Hyperspectral sensing system

ABSTRACT

A hyperspectral sensing device may include an optical collector configured to collect light and to transfer the collected light to a sensor having spectral resolution sufficient for sensing hyperspectral data. In some examples, the sensor comprises a compact spectrometer. The device further comprises a power supply, an electronics module, and an input/output hub enabling the device to transmit acquired data (e.g., to a remote server). In some examples, a plurality of hyperspectral sensing devices are deployed as a network to acquire data over a relatively large area.

CROSS-REFERENCES

The following related applications and materials are incorporatedherein, in their entireties, for all purposes: U.S. Provisional PatentApplication Ser. No. 62/648,779, filed Mar. 27, 2018, and U.S. patentapplication Ser. No. 16/366,635, filed Mar. 27, 2019.

FIELD

This disclosure relates to systems and methods for hyperspectralsensing.

INTRODUCTION

Optical characteristics of aquatic, terrestrial, and atmosphericenvironments may be measured to detect the presence and/or abundance ofvarious substances. For example, the wavelength-dependent intensity oflight reflected from or absorbed within oceans, lakes, and other bodiesof water may be monitored over time to quantify gradual or suddenchanges in concentrations of sediment and/or biological matter.Similarly, optical absorption and scattering from land may be monitoredto obtain spatial and/or temporal distributions of vegetation, minerals,and/or other substances.

In many cases, much of the useful information contained in this opticaldata involves wavelength- or frequency-dependent characteristics of themeasured light. Systems configured to measure light at a high spectralresolution are therefore desirable. A hyperspectral sensor, which canmeasure the spectrum of light at each spatial pixel in a region ofinterest, would provide a large amount of high-resolution data. However,known hyperspectral sensing systems suffer from a number of drawbacks.For example, known systems are typically limited to a single mode ofdeployment (e.g., above-water deployment only, underwater deploymentonly, etc.), and are unsuitable for autonomous deployment due to factorssuch as size, cost, power requirements, and sensitivity to vibration.Accordingly, there is a need for hyperspectral sensing systemsconfigured for field use in water-quality assessment, remote sensing,and/or other similar applications.

SUMMARY

The present disclosure provides systems, apparatuses, and methodsrelating to hyperspectral sensing.

In some embodiments, a method for autonomously mapping a body of watermay include: collecting first spectral data relating to ambient lightincident from a first viewable region using a sensing element of a firstspectrometer of a sensing device, wherein the first spectrometer has anoptical system configured to direct the ambient light onto the sensingelement, a first controller coupled to the first spectrometer andconfigured to automatically trigger data acquisition by the firstspectrometer at selected intervals, and a power supply configured toprovide power to the first spectrometer, the optical system, and thefirst controller, wherein the sensing device is encased in a housing;automatically adjusting the optical system to receive ambient light froma second viewable region; and collecting second spectral data relatingto ambient light incident from the second viewable region using thesensing element of the first spectrometer.

Features, functions, and advantages may be achieved independently invarious embodiments of the present disclosure, or may be combined in yetother embodiments, further details of which can be seen with referenceto the following description and drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic depiction of an illustrative hyperspectral imagein accordance with aspects of the present teachings.

FIG. 2 is a schematic depiction of an illustrative hyperspectral sensingdevice in accordance with aspects of the present teachings.

FIG. 3 is a is a schematic diagram of an illustrative compactspectrometer in accordance with aspects of the present teachings.

FIG. 4 is a schematic diagram depicting a hyperspectral sensing systemperforming a measurement on a discrete sample, in accordance withaspects of the present teachings.

FIG. 5 is a schematic diagram depicting a hyperspectral sensing systemperforming a measurement while immersed in a water sample, in accordancewith aspects of the present teachings.

FIG. 6 is an illustrative hyperspectral sensing device configured forperforming angularly-resolved hyperspectral measurements, according toaspects of the present teachings.

FIG. 7 is a schematic diagram of an illustrative optical collectorconfigured to simultaneously collect radiance from two differentdirections in accordance with aspects of the present teachings.

FIG. 8 is an isometric view of an illustrative chopper wheel configuredto modulate light according to aspects of the present teachings.

FIG. 9 is a schematic diagram of an illustrative optical collectorincluding a convex reflector, in accordance with aspects of the presentteachings.

FIG. 10 is a schematic diagram of an illustrative optical collectorincluding a movable reflector, in accordance with aspects of the presentteachings.

FIG. 11 is a schematic diagram of an illustrative optical collectorincluding a movable dispersing element, in accordance with aspects ofthe present teachings.

FIG. 12 is a schematic diagram of an illustrative optical collectorincluding a beamsplitter, in accordance with aspects of the presentteachings.

FIG. 13 is a schematic diagram of an illustrative optical collectorconfigured to simultaneously collect sky radiance, water radiance, andreference plaque radiance according to aspects of the presentdisclosure.

FIG. 14 is a schematic diagram of an illustrative optical collectorconfigured to simultaneously and/or sequentially measure sky radiance,water radiance, and/or reference plaque radiance according to aspects ofthe present disclosure.

FIG. 15 is a schematic diagram of an illustrative network ofhyperspectral sensing devices in accordance with aspects of the presentteachings.

FIG. 16 is a flow diagram depicting steps of an illustrative method forsimultaneous measurement of sky radiance and water radiance according tothe present teachings.

FIG. 17 is a flow diagram depicting steps of an illustrative method forperforming fluorescence, scattering, and/or attenuation measurements ona sample using a hyperspectral sensing system, in accordance withaspects of the present teachings.

FIG. 18 is a flow diagram depicting steps of an illustrative method forassessing water quality.

FIG. 19 is a flow diagram depicting steps of an illustrative method foracquiring hyperspectral data above water and underwater.

FIG. 20 is a schematic diagram depicting an illustrative electronicsmodule of a hyperspectral sensing system, in accordance with aspects ofthe present teachings.

FIG. 21 is a schematic diagram of an illustrative data processing systemin accordance with aspects of the present teachings.

FIG. 22 is a schematic diagram of an illustrative distributed dataprocessing system in accordance with aspects of the present teachings.

DETAILED DESCRIPTION

Various aspects and examples of a hyperspectral sensing system, as wellas related methods, are described below and illustrated in theassociated drawings. Unless otherwise specified, a hyperspectral sensingsystem in accordance with the present teachings, and/or its variouscomponents, may contain at least one of the structures, components,functionalities, and/or variations described, illustrated, and/orincorporated herein. Furthermore, unless specifically excluded, theprocess steps, structures, components, functionalities, and/orvariations described, illustrated, and/or incorporated herein inconnection with the present teachings may be included in other similardevices and methods, including being interchangeable between disclosedembodiments. The following description of various examples is merelyillustrative in nature and is in no way intended to limit thedisclosure, its application, or uses. Additionally, the advantagesprovided by the examples and embodiments described below areillustrative in nature and not all examples and embodiments provide thesame advantages or the same degree of advantages.

This Detailed Description includes the following sections, which followimmediately below: (1) Definitions; (2) Overview; (3) Examples,Components, and Alternatives; (4) Advantages, Features, and Benefits;and (5) Conclusion. The Examples, Components, and Alternatives sectionis further divided into subsections A through M, each of which islabeled accordingly.

Definitions

The following definitions apply herein, unless otherwise indicated.

“Substantially” means to be more-or-less conforming to the particulardimension, range, shape, concept, or other aspect modified by the term,such that a feature or component need not conform exactly. For example,a “substantially cylindrical” object means that the object resembles acylinder, but may have one or more deviations from a true cylinder.

“Comprising,” “including,” and “having” (and conjugations thereof) areused interchangeably to mean including but not necessarily limited to,and are open-ended terms not intended to exclude additional, unrecitedelements or method steps.

Terms such as “first”, “second”, and “third” are used to distinguish oridentify various members of a group, or the like, and are not intendedto show serial or numerical limitation.

“AKA” means “also known as,” and may be used to indicate an alternativeor corresponding term for a given element or elements.

“Coupled” means connected, either permanently or releasably, whetherdirectly or indirectly through intervening components.

“Processing logic” means any suitable device(s) or hardware configuredto process data by performing one or more logical and/or arithmeticoperations (e.g., executing coded instructions). For example, processinglogic may include one or more processors (e.g., central processing units(CPUs) and/or graphics processing units (GPUs)), microprocessors,clusters of processing cores, FPGAs (field-programmable gate arrays),artificial intelligence (AI) accelerators, digital signal processors(DSPs), and/or any other suitable combination of logic hardware.

In this disclosure, one or more publications, patents, and/or patentapplications may be incorporated by reference. However, such material isonly incorporated to the extent that no conflict exists between theincorporated material and the statements and drawings set forth herein.In the event of any such conflict, including any conflict interminology, the present disclosure is controlling.

Overview

In general, a hyperspectral sensing system in accordance with aspects ofthe present teachings is configured to obtain hyperspectral data whiledeployed in the field (e.g., adjacent a body of water, underwater, on anaerial vehicle, and/or the like). Typically, the hyperspectral sensingsystem includes a sensor configured to measure a spectrum of light witha high spectral resolution, along with one or more optical assembliesconfigured to direct light to the sensor. For example, the system maycomprise one or more compact spectrometers (AKA miniature spectrometers)and suitable optics.

Hyperspectral data generally comprises an image composed of one or morespatial pixels, with high-resolution spectral information (e.g.,wavelength-dependent or frequency-dependent information) associated witheach pixel. The spectral information may include a measured light level(e.g., brightness, energy, power, and/or intensity of light) in each ofa plurality of narrow, adjacent spectral bands. Hyperspectral data maybe represented by a hyperspectral image, which may be thought of as athree-dimensional image or hyperspectral cube having two spatialdimensions and one spectral dimension. FIG. 1 depicts an illustrativehyperspectral image 20 comprising a plurality of two-dimensional images22 of a coastal region, wherein each two-dimensional image correspondsto a detected level of light within a respective spectral band. In otherwords, each pixel 25 of one of the two-dimensional images 22 isassociated with a level of light detected within the spectral bandassociated with that two-dimensional image.

Accordingly, as shown schematically in FIG. 1, a set 27 of pixels 25corresponding to a same location in each of the two-dimensional imagescomprises a spectrum of detected light levels for the correspondinglocation across all spectral bands in hyperspectral image 20. Thespectrum associated with set 27 may be illustrated as a plot 29depicting measured light level (e.g., percentage of light reflected) asa function of wavelength for the location associated with the selectedpixel 25. Hyperspectral image 20 comprises such a spectrum for eachspatial pixel in the image.

For simplicity, only a few two-dimensional images 22 are depicted inFIG. 1, and therefore the depicted hyperspectral image 20 comprises onlya few spectral bands. Typically, however, hyperspectral images includelight levels associated with at least tens or hundreds of adjacentand/or narrowly spaced spectral bands, such that the spectrum associatedwith a given pixel across the plurality of two-dimensional images (e.g.,a spectrum like that depicted in plot 29) is, to good approximation,continuous.

A hyperspectral sensing system may be referred to as a hyperspectralimaging system and/or a hyperspectral imager. As discussed below, thehyperspectral sensing system of the present disclosure is configured tolog (e.g., record) hyperspectral data and therefore may also be referredto as a hyperspectral logger, hyperspectral logging system,hyperspectral logging radiometer, and/or optical data logger.

A hyperspectral sensing system in accordance with aspects of the presentteachings is typically well suited for use in water-quality assessments,remote sensing, underwater deployment, and/or other field settings. Forexample, the system may comprise one or more devices that are small insize, lightweight, suitable for use in or adjacent water, relativelyinsensitive to vibration, and/or configured to acquire data withoutcareful alignment and/or frequent calibration. In some examples, ahyperspectral sensing system comprises a network of hyperspectralsensing devices distributed in a suitable location and configured tostore and/or transmit sensed data.

A hyperspectral sensing system in accordance with aspects of the presentteachings may be used to acquire hyperspectral data in a variety ofdeployment modalities. For example, the system typically has a lowphysical volume and a low weight and is therefore suitable for aerialdeployment, e.g., on an airplane, unmanned aerial vehicle, weatherballoon, and/or the like. In some examples, the system may also bedeployed underwater, e.g., on a watercraft, buoy, unmanned underwatervehicle, manually operated by a diver, and so on. Additionally, oralternatively, the system may be deployed on the ground, adjacent a bodyof water, and/or in any other suitable location. In some examples, thesystem is configured to simultaneously measure light incident frommultiple directions, e.g., from the sky and from a body of water.

In some examples, the system is used to acquire data from a discretesample (e.g., a sample of water and/or another fluid) collected by aprofiling system (e.g., a rosette comprising an array of Niskin bottles,Scotty bottles, and/or the like, and optionally including sensors suchas CTD sensors). In some examples, a sample of fluid is collected by aflow-through system configured to pump fluid into a sample chamber, andthe system acquires data from the sample within the sample chamber.These capabilities are discussed further below.

Examples, Components, and Alternatives

The following sections describe selected aspects of exemplaryhyperspectral sensing systems as well as related systems and/or methods.The examples in these sections are intended for illustration and shouldnot be interpreted as limiting the scope of the present disclosure. Eachsection may include one or more distinct embodiments or examples, and/orcontextual or related information, function, and/or structure.

A. Illustrative Hyperspectral Sensing Device

With reference to FIG. 2, this section describes an illustrativehyperspectral sensing device 30. Device 30 is an example of thehyperspectral sensing systems described above.

As shown in FIG. 2, which is a schematic depiction of device 30, thedevice includes an optical collector 35 configured to collect light froma sample spatial region. The sample region may include a landmass, abody of water, a portion of the atmosphere, and/or any other suitablearea or object of interest.

Collector 35 is further configured to transfer the collected light fromthe sample region to a sensor 40. Transferring the light to sensor 40typically includes steering the light toward the sensor and may furtherinclude minimizing optical distortions, aberrations, and/or stray light.In some examples, transferring the light to sensor 40 includes imagingthe sample region onto the sensor (e.g., onto a slit of the sensor, ontoa sensing element of the sensor, and/or the like).

Light collected by collector 35 includes light emitted by, reflected by,and/or transmitted through objects within the sample region viewable bycollector 35. The viewable region may be characterized by, e.g., anangular field of view (AFOV) and/or a horizontal or vertical field ofview (FOV) of collector 35, e.g., at a desired working distance from thecollector (e.g., at the object plane). The spectrum of the collectedlight (e.g., the intensity, brightness, radiance, and/or other level ofthe collected light as a function of wavelength) may be used tocharacterize objects within the sample region. For example, if thesample region includes a portion of a landmass, the collected light mayprimarily include light reflected from the landmass portion, and thespectrum of the reflected light may be used to infer mineral content ofthe landmass portion. The objects and/or portions of objects within theviewable sample region may be referred to as samples, and collectinglight from the samples (e.g., acquiring a single spectrum and/orsequentially acquiring a plurality of spectra of the same viewableregion) may be referred to as sampling.

Collector 35 may comprise any assembly of optical components suitablefor collecting light from the sample region and transferring thecollected light to sensor 40. For example, collector 35 may comprise anaperture, an entrance slit, an optical tube, and/or a fiber optic guide.An optical fiber configured to guide input light collected by anentrance aperture and/or fore-optic to the detector plane of sensor 40may be useful when objects or other physical obscurations are disposedbetween the sample and the sensor, or when it is desirable to physicallyseparate the sensor from the sample. For example, samples may bedifficult to physically access due to space available or fragileenvironments such as in proximity to under-water vegetation, rockformations, or coral structures. In other cases, the optimal location ofthe optical sampling port on a deployment vessel, or reducing theinstrument and vessel self-shading of the sample area, may requireseparating the instrument from the sampling entrance port.

Additionally, or alternatively, collector 35 may include a compoundmirror and/or lens system with fore-optics; relay optics, diffusers,dispersive optical elements, and/or other homogenizing elements;polarizing elements; and/or adaptive telescope and/or microscopeobjectives with wavefront correction. In some examples, collector 35includes optics configured to increase the uniformity of a spatialdistribution (e.g., an angular distribution) of collected light. Forexample, collector 35 may include a diffusing collector with a cosineresponse, AKA a cosine corrector, configured to acquire a 180-degree FOVirradiance, and to accurately weight the angular distribution of anincoming incoherent light-field. A cosine corrector may be particularlyuseful for, e.g., measurements of sky irradiance or underwaterdownwelling or upwelling radiances. Light from an inhomogeneous sourcemay also be generally made more uniform by a ground-glass diffuser, afly's-eye homogenizer, or diffractive optical elements (DOE) withincollector 35.

In some examples, one or more linear polarizing optical elements and/orone or more circular polarizing optical elements are included incollector 35 to select and/or measure the polarization of the incominglight field as a function of wavelength and of angle of polarization.The angular orientation(s) of the polarizer(s) may be actuated manuallyand/or mechanically by automated and/or motorized control. Thepolarizing element or elements may be moved in or out of the opticalpath manually and/or mechanically by automated and/or motorized control.The polarizer(s) may be used, for example, to perform a hyperspectralpolarization measurement to identify specific substances (e.g.,substances having light-polarizing characteristics). A hyperspectralpolarization measurement may be performed, for example, using lightreflected from the surface of a body of water. Such light is typicallypolarized by the refraction and reflection at the air-water interface,and may be additionally polarized by the absorption from water moleculesor other suspended matter in the surface layer. A circular polarizer maybe used, for example, to reduce or amplify the light reflected from thesurface of a body of water.

In some examples, collector 35 is configured to be dynamically actuatedto vary the field of view, depth of focus, and/or other parameters. Forexample, collector 35 may include an entrance slit of adjustable size(e.g., an adjustable aperture, such as an iris). Optical diffusers, suchas ground glass or quartz diffusers, may be used to mix the angulardistribution of light across the sampled region. Additionally, oralternatively, positions of optical collector elements such as lensesmay be adjustable. For example, optical collector elements may bemounted on translation stages such that distances between sensor 40 andoptical collector elements is variable. In examples including adjustablecollector elements, the size (e.g., spatial extent) of the pixelssampled by device 30 may be variable while the distance between sensor40 and the sampled object is fixed. The spatial distribution sampled bydevice 30 may thus be varied without changing the position of sensor 40.Additionally, adjusting the position of the focal plane of a collectormay help to sample the imaging contribution of a desired best-focusplane. Collector 35 may include steering optics configured toselectively change the lateral location of the image field and therebyscan a larger sampling area than possible with a fixed samplinglocation.

In some examples, optical elements within collector 35 may beindividually adjustable and/or removable and replaceable. For example,optical collector elements may be mounted by bolts and/or screws to anoptical breadboard having threaded bores. Additionally, oralternatively, collector 35 may be configured to be detachable fromdevice 30 (e.g., from a housing of the device) and replaced with anothercollector. For example, a collector 35 configured to sample objects faraway from device 30 may be replaced with a collector configured tosample objects very close to the device. The ability to adjust and/orreplace collector 35 helps device 30 to collect data in a variety ofsettings and/or modes of deployment.

As described above, collector 35 is configured to transfer sampled lightinto sensor 40 (e.g., onto an entrance aperture of sensor 40). Sensor 40may comprise any suitable device configured to receive light and tomeasure the level (e.g., an energy, power, and/or intensity) of thereceived light in a plurality of narrow spectral bands. Typically,sensor 40 includes a dispersive optical element configured to spatiallyseparate spectral components of the received light, and one or moredetectors configured to measure light intensity at a plurality ofspatial points. The measured intensity at each spatial point correspondsto the intensity of light in a certain spectral band. The mappingbetween spatial points and spectral bands can be calculated based on,e.g., the dispersive properties of the dispersive element, the relativepositions between the dispersive element and the spatial points, and soon. Sensor 40 is typically a compact optoelectronic device, such as aspectrometer or mini-spectrometer (see FIG. 3 and associated descriptionin Section B). In some examples, however, sensor 40 may comprise anothertype of device, such as a spectrophotometer, a CCD array, a CMOS array,and/or the like.

Collector 35 may include optics configured to at least partially correctimperfections in the radiometric (spectral) or angular response ofsensor 40 arising from wavefront aberrations introduced by variouscomponents of the sensor (e.g., an entrance aperture, a dispersiveelement such as grating or prism, coatings, and/or sensorimperfections). Sensor 40 may be disposed in any suitable positionrelative to collector 35 to receive the light from the collector. Insome examples, sensor 40 may be positioned adjacent to and/or coupled tocollector 35.

As shown in dashed lines in FIG. 2, device 30 optionally includes asecond sensor 40, and may include a second collector 35 configured tocollect light and transfer the collected light to the second sensor. Inexamples wherein device 30 includes two or more sensors, collectorscorresponding to the two or more sensors may be configured to collectlight incident from different directions. For example, the firstcollector may transfer light incident from a first direction onto thefirst sensor, and the second collector may transfer light incident froma second direction onto the second sensor. In some examples, a singlecollector 35 is configured to direct light from two different directionsonto two different sensors. In examples wherein device 30 includes twoor more collectors, the two or more collectors may have differentoptical properties (e.g., different fields of view, focal lengths,and/or the like), or may be substantially identical. If two or moresensors are included, they may have different properties (e.g.,sensitivity, dynamic range, wavelength range, etc.) or may besubstantially identical. Use of two or more sensors may enable device 30to acquire data from two or more samples simultaneously. (However, seealso Section D below, describing illustrative collectors configured toenable simultaneous measurements with a single sensor.)

In addition to sensor 40, device 30 optionally includes one or moreauxiliary sensors 50 such as GPS receivers, thermometers, pressuresensors (e.g., for depth and/or altimetry), humidity sensors, CTDsensors (AKA Sonde sensors), dissolved oxygen sensors, compasses,inertial measurement units, real-time clock (RTC) oscillators,photodiodes, pH sensors, dissolved Nitrogen (nitrates) sensors,dissolved organic carbon sensors, dissolved inorganic carbon sensors,and/or any other suitable sensors. The fusion of multiple sensor inputsmay be very useful for precision optical measurements, because theoutput of one sensor (e.g., sensor 40 or one of auxiliary sensors 50)can be strongly coupled to a physical property measurable by a separatesensor. For example, the ability of sensor 40 to correctly measure thewavelength of light may depend linearly or nonlinearly on thetemperature of the sensor and therefore on the temperature of theenvironment in which the sensor is used. Based on the relationshipbetween measured wavelength and sensed temperature, a correction to thewavelength reading can be performed based on data measured by atemperature sensor in proximity to sensor 40. This improves the accuracyand stability of the obtained hyper-spectral data. In some examples,corrections based on temperature (or other data measured by auxiliarysensor 50) are performed on board device 30 (e.g., by an electronicsmodule) at the analog-circuit level and/or digitally (following theanalog-to-digital conversion). Additionally, or alternatively, thecorrection may be implemented on an external computer after the data istransferred off-board the hyperspectral data-logging device.

Additionally, or alternatively, device 30 may include a light source 60.Light source 60 may be configured to illuminate at least a portion ofthe sampling region with a light having a predetermined intensity,propagation direction, polarization, and/or range of wavelengths. Lightsource 60 may enable measurements involving fluorescence, absorption,scattering, and/or the like.

Device 30 further includes an electronics module 70. Electronics module70 includes a memory store 75 coupled to sensor 40 and configured tostore data obtained by the sensor. Optionally, memory store 75 may beconfigured to store data from sensor 40 in association with data fromauxiliary sensors 50 corresponding to, e.g., a timestamp correspondingto the time at which the data was collected, GPS coordinates, ambienttemperature, settings of the sensor, and/or the like. Memory store 75may be nonvolatile (e.g., configured to continue storing data whendisconnected from a power source) and/or volatile (e.g., configured todiscontinue storing data when disconnected from a power source). Inexamples including a volatile memory, using device 30 may includetransferring data from the volatile memory to an external storage deviceprior to disconnecting the memory from a power source.

Electronics module 70 may include processing logic 78 configured to,e.g., trigger sensor 40 and/or auxiliary sensors 50 to start and/or stopcollecting data, actuate adjustable elements of collector 35, write datafrom sensor 40 and/or auxiliary sensors 50 to memory store 75, and/orcommunicate with an input/output hub of device 30. For example, signalsfrom auxiliary sensors 50 may be read by electronics module 70, whichmay selectively trigger sensor 40 to perform measurements based on theauxiliary sensor readings (e.g., when the auxiliary sensor readingssatisfy one or more criteria). For example, electronics module 70 maytrigger device 30 to perform measurements in response to signals from apressure sensor indicating that the device (or portion thereof, such ascollector 35) is disposed at a predetermined depth underwater. Asanother example, electronics module 70 may trigger sensor 40 to performmeasurements in response to signals from a tilt sensor (e.g., an IMU)indicating a predetermined orientation of collector 35 or othercomponents of the device. The predetermined orientation may, forexample, enable measurements of sky radiance at a desired angle relativeto the horizon and/or to the sun. As yet another example, signals from aclock or a GPS receiver may be used to trigger measurements at desiredtimes and/or locations.

In some examples, two or more criteria are associated with theinformation sensed by a single auxiliary sensor. For example,electronics module 70 may perform an action (e.g., trigger a reading,vary a sampling rate and/or integration time of sensor 40, etc.) basedboth on the actual value of data acquired by the auxiliary sensor and onthe rate at which the data changes with time. For example, ifinformation sensed by a depth sensor indicates that the depth of device30 below water is at least a predetermined amount and is also changingrapidly, electronics module 70 may increase the rate at which the systemacquires data.

In some examples, auxiliary sensors 50 include at least one photodiode(or other suitable device), and electronics module 70 is configured toturn off power to sensor 40, at least some auxiliary sensors 50, and/orother components of device 30 in response to data from the photodiodeindicating that light levels are below a predetermined threshold. Thepredetermined threshold may correspond to light levels associated with atime of day (e.g., night-time), with a specified depth underwater,and/or with a specified tilt angle. Electronics module 70 may restorepower in response to information from the photodiode indicating thatlight levels are above the predetermined threshold. Shutting down powerbased on information sensed by the photodiode may reduce total powerconsumption of device 30 during deployment, and may thereby extend thelength of deployment of an autonomous and/or manually operated device.

Additionally, or alternatively, electronics module 70 may power downcomponents of device 30 in response to information from a real-timeclock. For example, electronics module 70 may shut down sensor 40 andauxiliary sensors 50 when the real-time clock indicates that it is nighttime, and may turn on power to sensor 40 and auxiliary sensors 50 whenthe real-time clock indicates that it is morning.

In some examples, triggering may be additionally or alternatively basedon signals from sensor 40. For example, electronics module 70 may varythe sampling rate or integration time of sensor 40 based on theintensity of light recently measured by the sensor (e.g., across theentire spectrum measurable by sensor 40 or across any suitableportion(s) of the measurable spectrum). In this way, device 30 mayautonomously adapt to, e.g., changing amounts of incident light. Forexample, electronics module 70 may change settings of sensor 40 tosettings suitable for low amounts of light when the measured intensityis low, and, in response to an increase in measured intensity, changethe settings to be suitable for larger amounts of light.

Device 30 further includes an input/output hub 80 allowing forcommunication of data between device 30 and other devices (e.g.,computers, mobile devices, servers, and/or the like). For example,input/output hub 80 may include one or more interface ports such asserial ports, parallel ports, and/or universal serial bus (USB) ports.The interface ports may include dedicated input ports, dedicated outputports, and/or ports capable of both input and output. For example, a USBport may be used to provide input to device 30 and to output informationfrom the sensing system to an external computer or other externaldevice. In some examples, input/output hub 80 includes a wirelesscommunication circuit, which may transmit and/or receive informationusing, e.g., a WiFi wireless technology protocol, a Bluetooth® wirelesstechnology protocol, an Iridium® wireless communications system, and/orthe like. Input/output hub 80 may be used to retrieve data from device30 (e.g., from memory store 75, from a buffer within electronics module70, and/or directly from sensor 40). For example, data may betransferred via input/output hub 80 to an external computer for storageand/or analysis. Input/output hub 80 may additionally or alternativelybe used to input instructions related to the operation of device 30. Forexample, a user may use an external computer and/or mobile devicecoupled to input/output hub 80 to select a parameter of sensor 40 (e.g.,integration time, sampling rate, and/or the like). The selectedparameter is communicated via input/output hub 80 to sensor 40 and/or toelectronics module 70.

In some examples, device 30 includes one or more data processing systems(e.g., computers), such as a single-board Linux computer and/or othersuitable system. The data processing system may communicate with, and/orbe part of, electronics module 70 and/or input/output hub 80. The dataprocessing system may facilitate transfer of data between device 30 andan external system. In some examples, the data processing system remainsin a low-power standby mode until woken by electronics module 70 (e.g.,by one or more microcontrollers of the electronics module) for datatransfer and/or any other suitable purpose. In this manner, power isconserved by keeping the computer in standby mode during much of thetime the device is deployed.

Device 30 further includes a power source 90. Power source 90 mayinclude any suitable battery or batteries, rechargeable or otherwise,such as a lead-acid battery, a lithium-ion battery, a lithium-polymerbattery, a nickel-cadmium battery, and/or the like. The battery may be asecondary cell in communication with a battery-charging circuitconfigured to receive power from an external source and convert thereceived power into an electrical current usable to charge the battery(e.g., a DC current). The charging circuit may be configured to chargethe battery by inductive charging, infrared power transmission,radio-frequency power transmission, and/or by drawing power from anotherdevice via a USB interface port. Power source 90 provides power tocomponents of device 30 having need of a power supply (e.g., needing avoltage or current source). For example, power source 90 may supplyelectrical power to sensor 40, any motorized components of collector 35,input/output hub 80, electronics module 70, light source 60, and/orauxiliary sensors 50. In some examples, power source 90 comprises aphotovoltaic device (e.g., one or more photovoltaic panels, and/or anyother suitable solar power device).

Typically, device 30 includes an enclosure or housing 95 configured toat least partially contain the components described above. Housing 95 isgenerally designed to be suitable for deployment in rough environments(e.g., outdoors, on ships and/or buoys, on aerial vehicles, etc.). Forexample, the housing may be water-resistant or water-tight, and may beconfigured to resist corrosion. In some examples, housing 95 isconfigured to protect its contents when deployed underwater.

B. Illustrative Compact Spectrometer

With reference to FIG. 3, this section describes an illustrative compactspectrometer 100. Compact spectrometer 100 is an example of sensor 40suitable for use in a hyperspectral sensing system in accordance withaspects of the present teachings, as described above. Accordingly,compact spectrometer 100 is configured to measure an intensity ofimpinging light in each of a plurality of adjacent narrow spectralbands. Compact spectrometer 100 may be referred to as amicrospectrometer, and/or an ultra-compact spectrometer.

FIG. 3 is a schematic depiction of compact spectrometer 100. As shown inFIG. 3, compact spectrometer 100 includes an input slit 110 throughwhich incident light enters. The incident light is typically lightemitted by, reflected by, scattered from, and/or transmitted throughsample objects within the field of view of collector 35. Collector 35directs the incident light through input slit 110, which may includeimaging the sample objects onto input slit 110.

The incident light is transmitted through a hollow space in compactspectrometer 100 and impinges on grating 115. Grating 115 is adiffraction grating comprising an array of fine, parallel grooves on acurved reflective substrate. In the example depicted in FIG. 3, grating115 comprises a reflective concave blazed grating, having grooves shapedto form right triangles, but any suitable type of grating may be used(e.g., a holographic grating, a ruled grating, an echelle grating,and/or any other suitable grating). In some examples, a differentdispersive element (e.g., a transmissive grating and/or a prism) is usedinstead of grating 115.

In general, light impinging on grating 115 is reflected from the gratingin a propagation direction determined at least partially by thewavelength of the light. In other words, grating 115 disperses orseparates the incident light into a plurality of chromatic components(e.g., spectral component or colors), and the chromatic components arereflected from the grating in a wavelength-dependent manner.

The curvature of grating 115, which is concave toward input slit 110,focuses the reflected incident light toward an image sensor 120. Imagesensor 120 is configured to measure an amount (e.g., an intensity) ofthe dispersed and reflected incident light from grating 115 at each of aplurality of spatial positions and/or pixels of the image sensor.Because grating 115 reflects light in a wavelength-dependent direction,the location on image sensor 120 at which light was measured correspondsto the wavelength of the light. Image sensor 120 may comprise a linearCMOS array (e.g., a CMOS device comprising a row of detecting pixels), aCCD array, and/or any other suitable image-sensing device. In someexamples, grating 115 and/or image sensor 120 comprise optoelectronicchips.

Compact spectrometer 100 has a high sensitivity to light, enabling it toacquire hyperspectral data in low-light environments, such asunderwater. Compact spectrometer 100 also has a relatively shortelectro-optical integration time (e.g., it can complete a measurement ina short amount of time). As a result of its high sensitivity and shortintegration time, compact spectrometer 100 has a wide dynamic range. Inother words, it is capable of measuring both low levels and high levelsof light. The wide dynamic range of compact spectrometer 100 enablesdevice 30 to be used in dark underwater environments as well as brightabove-water environments.

Due to its small size, compact spectrometer 100 has a short optical pathlength. That is, light travels a relatively small distance withincompact spectrometer 100. The short optical path length allows for highstability against vibrations, thermal changes, optical defects, straylight, and/or other disruptions.

Suitable examples of compact spectrometer 100 include the compactspectrometer currently sold under the name “C12880MA” by HamamatsuPhotonics and the Carl Zeiss Spectroscopy GmbH product named “MonolithicMiniature Spectrometer, MMS UV-VIS”. Other suitable examples of compactspectrometer 100 may include a spectrometer that supports a spectralresponse up to 850 nm or more (e.g., a spectral domain of 300 nm to 900nm, of 330 nm to 850 nm, and/or any other suitable range), has a maximumspectral resolution of 15 nm, is sized approximately 20×13×10 mm, and/orweighs approximately 5 grams or less. Larger size sensor modules orpackages with sizes approximately 70×60×40 mm and weighing 50 grams orless may be suitable also.

C. Illustrative Devices Having a Light Source

As shown in FIGS. 4-6, this section describes illustrative hyperspectralsensing devices including light sources (e.g., LEDs, lamps, and/orlasers) and configured to illuminate a sample so that scattering,fluorescence, and/or absorption properties of the sample may be probed.These devices may be substantially similar to device 30 in at least somerespects. The sample may be, e.g., a sample of air or a sample of water.In some embodiments, the sample is a defined volume of gas, liquid, orsolid matter inside a container.

FIG. 4 schematically depicts a device 130 configured to illuminate adiscrete and/or flow-through sample. For example, the sample may be adiscrete sample removed from the sampling site (such as a definedquantity of water removed from a body of water using, e.g., a profilingrosette, bottle, and/or other suitable device). Alternatively, oradditionally, the sample may be a flow-through sample configured to bepassed through the viewable region of the sensing system (for example,water may be pumped from a body of water through a sampling chamberdisposed in front of the optical collector, so that a measurement orseries of measurements of the flowing water may be made).

Device 130 includes a light source 136, which comprises one or moredevices configured to emit light, such as LEDs, OLEDs, diode lasers,fiber lasers, lamps, and/or the like. In some examples, the one or morelight-emitting devices of light source 136 each produce lightsubstantially at a single wavelength. For example, LEDs producing lightat 405 nm, 470 nm, 560 nm, and/or 650 nm may be used. In some examples,one or more of the light-emitting devices produce light at a range ofwavelengths. For example, light source 136 may include broadband LEDs(e.g., superluminescent LEDs), a continuum and/or supercontinuum source,and so on. The wavelength range of light source 136 may be selectedbased on specific absorbing, scattering, and/or fluorescing substancesexpected to be present in the sample. Light source 136 may be modulated(e.g., amplitude-modulated and/or phase-modulated) such that light fromthe light source may be distinguished and/or isolated from backgroundand/or ambient light (with or without lock-in amplification).

Device 130 includes an optical assembly configured to prepare lightproduced by the source for transmission to the sample. Typically, theoptical assembly includes a diffuser 138 configured to homogenize (e.g.,diffuse) light produced by the light source, and a lens 139 configuredto collimate light produced by the light source (e.g., totelecentrically illuminate the sample). These components preserve thefocal plane of the light source across the sample volume.

In some examples, light source 136 and/or the associated opticalassembly may be mounted detachably to device 130 so that they can beremoved when not needed, or swapped out for different components.

Device 130 includes an optical collector 142 configured to collect lightfrom the sample and to transfer it to a sensor 146 (e.g., a compactspectrometer or other suitable detector having sufficient spectralresolution for hyperspectral measurements). Collector 142 may includeone or more bandpass and/or notch optical filters configured to blocklight produced by light source 136 that is transmitted through thesample, or passes around the sample, substantially without interactingwith the sample. These filters may, for example, increase asignal-to-noise ratio of the hyperspectral measurement, and/or mayprevent a weak fluorescence signal received at sensor 146 from beingoverwhelmed by a strong background signal from light source 136.

In some examples, one or more optical components of collector 142 areselected based on optical properties associated with a bottle or otherdevice containing the sample (e.g., based on an amount of refractionexperienced by light passing through the bottle). Device 130 may beconfigured to be used with any one of a plurality of interchangeablecollectors having different optical components.

FIG. 5 schematically depicts an illustrative device 150 configured toacquire hyperspectral data using a light source while immersed in asample. For example, device 150 may be immersed in water, may be used tomeasure ambient air, and/or may be used in any other situation whereinthe entire optical path between the light source and the opticalcollector is occupied by the sample. Device 150 includes a light source156, a light-source diffuser 158, a light-source collimating lens 159,an optical collector 162, and a sensor 166.

FIG. 6 schematically depicts an illustrative device 180 configured forselectively adjusting an angle formed by a light source 182 relative toa collector 184 and a sensor 186. Collector 184 and sensor 186 aremounted slidably on a rail 190, as shown in FIG. 6. Typically, collector184 and sensor 186 are connected rigidly, such that they move togetheralong the rail, but other configurations are possible. In a firstposition, the collector and sensor are disposed such that light fromlight source 182 passes through a sample, and light transmitted directlythrough the sample (e.g., without deflection) enters the collector. Inthe first position, collector 184 and sensor 186 face light source 182(e.g., forming a substantially 180-degree angle with the light source)with the sample disposed between them.

With collector 184 and sensor 186 in the first position, the spectralproperties of light striking the sensor can be measured and comparedwith known spectral properties of light source 182, and absorbanceproperties of the sample may be inferred. For example, a measurementindicating that the sample preferentially absorbs light at a certainwavelength may indicate that the sample contains a substance known toabsorb light at that wavelength. This type of measurement may bereferred to as an attenuation measurement, because thewavelength-dependence of the attenuation of light within the sample isprobed.

In a second position, collector 184 and sensor 186 are disposed at anangle less than 180° relative to light source 182. In some cases, theangle may be less than 90°. In the second position, device 180 maymeasure spectral properties of light scattered from the sample. Forexample, sensor 186 may detect light produced by photons from lightsource 182 undergoing Rayleigh scattering, Raman scattering, Brillouinscattering, and/or diffuse reflection from the sample. Additionally, oralternatively, sensor 186 may detect light produced by photons fromlight source 182 inducing fluorescence in the sample, and/or in aconstituent of the sample. The spectrum of light detected at one or moreselected angles may be used to determine concentrations of specificsubstances within the sample (e.g., concentrations of algae withinwater). In some examples, hyperspectral measurements of fluorescence mayindicate the size of particulates within the sample, a concentration ofa specific substance within the sample, a type of substance present inthe sample, and/or a physiological state of a biological species withinthe sample.

Collector 184 and/or sensor 186 may transition between the first andsecond positions by sliding along rail 190. Additional positions alongrail 190 may be possible, e.g., at angles between 0° and 180° relativeto light source 182. In some examples, the variation of the samplespectrum in response to changes in the angle subtended by the collectoroptical axis and the angle of the excitation source may be probed. Theangular dependence of the spectrum may indicate Rayleigh scattering inthe sample and therefore may be used to detect a presence or abundanceof small particles (e.g., particles <0.5 microns in size).

In some examples, collector 184 and sensor 186 are moved by an actuator,and rail 190 is a fixed armature of the actuator. The actuator mayenable the collector and sensor to be positioned with high accuracy andprecision for reproducible angularly-resolved measurements. In someexamples, light source 182 slides along the rail while collector 184 andsensor 186 are fixed in place.

D. Illustrative Collectors for Simultaneous Measurement

With reference to FIGS. 7-14, this section describes illustrativeoptical collectors for use in simultaneous hyperspectral measurements oflight propagating from two different directions using a single sensor(e.g., a single spectrometer). In some examples, light from onedirection is propagating from the sky, and light from the otherdirection is propagating from a body of water. Simultaneous sky-watermeasurements may, for example, be used to determine spectral propertiesof a body of water such as an ocean, coastal region, lake, reservoir,estuary, river, and/or the like. For convenience, collectors configuredfor use in measurement of light from two directions are described hereinin the context of simultaneous sky and water radiance measurements.However, generally, light from the two directions may have any suitableorigin.

In some examples, a body of water may be characterized by a spectralremote-sensing reflectance, e.g., a wavelength-dependent ratio ofradiance leaving the water in a particular viewing direction to thetotal sky irradiance just above the water's surface. The remote-sensingreflectance R_(rs) may be defined by the following equation:

${R_{rs}\left( {\theta,\phi,\lambda} \right)} = \frac{L_{w}\left( {\theta,\phi,\lambda} \right)}{E_{d}(\lambda)}$

where L_(w)(θ,φ,λ) is the radiance of water-leaving light at wavelengthλ in a direction defined by polar and azimuthal angles (θ,φ) andE_(d)(λ) is the irradiance of downwelling light at wavelength λ incidenton the water surface. Downwelling light typically includes light fromthe sky. Water-leaving light includes light emerging from beneath thesurface of the water, such as light from the sky that traveled beneaththe surface and was scattered upward through the surface. Water-leavinglight by definition does not include light reflected directly from thesurface of the water substantially without traveling underwater. Ingeneral, a direct measurement of the water-leaving radiance is notpossible because a detector pointed at the water surface will measurethe total upwelling radiance, which includes both the water-leavingradiance and the surface-reflected radiance. That is, a detectormeasures

L _(T)(θ, ,λ)=L _(w)(θ,φ,λ)+L _(r)(θ,φ,λ)

where L_(T)(θ,φ,λ) is the total upwelling radiance and L_(r)(θ,φ,λ) isthe surface-reflected radiance. The water-leaving radiance may, however,be estimated from the total upwelling radiance by several methods. Insome methods, the surface-reflected radiance is estimated by multiplyingthe sky radiance by a correction factor. For example,

L _(r)(θ,φ,λ)=μL _(s)(θ′,φ′,λ′)

where the angles (θ′,φ′) denote a direction within the field of view ofthe detector when the detector is pointed in a direction suitable forsampling the sky radiance that would specularly reflect from the watersurface into the direction defined by (θ,φ). The correction factor ρ,which may be a Mobley surface correction, may depend on either or bothangles (θ,φ), wavelength λ, and/or other factors such as environmentalfactors. Using this estimate for the surface-reflected radiance, theremote-sensing reflectance may be estimated as

${R_{rs}\left( {\theta,\phi,\lambda} \right)} = {\frac{{L_{T}\left( {\theta,\phi,\lambda} \right)} - {\rho \; {L_{s}\left( {\theta^{\prime},\phi^{\prime},\lambda} \right)}}}{E_{d}(\lambda)}.}$

In other examples, the surface correction of the sky radiance can beexplicitly modeled using a bidirectional reflectance distributionfunction (BRDF) using the known imaging view geometry (e.g., solarzenith and azimuth angles, and sensor zenith and azimuth view angles), amodel of the angle and/or wavelength-dependent reflectance at theair-water interface, and the interface roughness due to wave facets onthe water surface. Alternatively, or additionally, a plurality ofsensors may measure the total upwelling radiance from different angles,and the surface correction may be obtained based on the measurements. Inthese examples, measuring the sky radiance is optional.

The downwelling irradiance E_(d)(λ) may be estimated by measuring thereflectance of a reference surface having a known reflectance parameterR_(ref). A typical reference surface is a flat, rigid plaque configuredto reflect incident light diffusely and isotropically (e.g., aLambertian reflector). For example, a card coated with barium sulfateand/or magnesium oxide may be used as a plaque. The radiance L_(ref) oflight reflected by the plaque is independent of the measurement angleand may be calculated as

${L_{ref}(\lambda)} = {\left( \frac{R_{ref}(\lambda)}{\pi} \right){{E_{d}(\lambda)}.}}$

The remote-sensing reflectance for a given wavelength in a givendirection may then be calculated from the measured total upwellingradiance, the measured sky radiance, and the measured reference plaquereference:

$R_{rs} = {\frac{\left( {L_{T} - {\rho L_{s}}} \right)}{\pi \left( {L_{ref}/R_{ref}} \right)}.}$

In other examples, the downwelling irradiance may be measured directly.

In known systems for remote-sensing radiance measurements, the skyradiance and the total upwelling radiance are typically measured insequence with a single detector or simultaneously with multiplerespective detectors. (The reference plaque, if used, may be measured atthe same time as the total upwelling radiance, or may be measuredindependently.) Both sequential measurements and multiple-detectormeasurements have disadvantages. Environmental conditions may changesignificantly between sequential measurements, leading to uncertaintyand/or noise in the measured data. Data acquired by multiple detectorsmay include errors due to the detectors having different sensitivities,being imperfectly calibrated, and/or triggering data acquisition atslightly different times. Systems and methods of the present disclosureallow simultaneous measurement of the total upwelling radiance, skyradiance, and optionally a reference plaque radiance, using a singlehyperspectral-capable sensor (e.g., a single compact spectrometer).

Illustrative sky-water collectors configured to collect light for asimultaneous sky-water measurement are described below. As definedherein, a simultaneous sky-water measurement is a substantiallysimultaneous measurement of total upwelling radiance and sky radiance,and may include a substantially simultaneous or a non-simultaneousmeasurement of a reference plaque. An illustrative sky-water collector250 is depicted schematically in FIG. 7. Sky-water collector 250includes a sky-radiance aperture 254 configured to allow light to enterthe collector, a water-radiance aperture 256 configured to allow lightto enter the collector, and an optical director 258 (e.g., an assemblyof optical components) configured to direct light entering through thesky-radiance aperture and light entering through the water-radianceaperture toward a sensor within the device. Sky-radiance aperture 254and water-radiance aperture 256 may include slits of fixed or variablewidth, optical diffusers, lenses, and/or other optical components.Optionally, sky-water collector 250 may include steering optics (e.g.,mirrors, filters, polarizers, polarizing and/or nonpolarizingbeamsplitters, and/or other steering components) configured to directlight in one or more directions, refractive and/or diffractive elementsconfigured to adjust beam sizes and/or shapes of light, beam blocksconfigured to block light from entering one or more portions of thecollector, and/or modulators configured to modulate light (e.g., tomodulate a phase and/or amplitude of light).

Optionally, a modulator 259 may be disposed between sky-radianceaperture 254 and optical director 258 and configured to modulate lightentering through sky-radiance aperture 254, such that the portions oflight entering the collector through that aperture may be distinguished.Additionally, or alternatively, a modulator may be disposed betweenwater-radiance aperture 256 and optical director 258.

Modulator 259 may comprise any suitable system or device configured tomodulate light. In some examples, modulator 259 includes a scanningoptical element configured to periodically deflect light such that atleast a portion of the light deviates from the optical path it wouldotherwise travel. For example, a scanning mirror may periodicallydeflect the light such that the light is not directed toward a sensor,or such that the light strikes a beam block within sky-water collector250.

Additionally, or alternatively, modulator 259 may comprise a chopperwheel 260. Chopper wheel 260, depicted in FIG. 8, includes an opaquesubstrate (e.g., a disc) having openings 261 at regular angularintervals. Adjacent openings 261 are separated by unmodified blockingportions 262 of the opaque substrate. Chopper wheel 260 is rotatablymounted to a support and configured to rotate at a fixed, stable rate(e.g., a motor may drive the chopper wheel to rotate at a specificspeed). Light may be amplitude-modulated by placing chopper wheel 260 inthe optical path of the light. As chopper wheel 260 rotates, the lightis periodically blocked by blocking portions 262 and allowed to pass byintervening openings 261. The periodic blocking effectively modulatesthe amplitude of the light.

In examples including modulation of light entering through one or moreapertures, an electronics module (e.g., electronics module 70) may beconfigured to trigger data acquisition by the sensor in phase (andfrequency) with the modulation cycle of the modulator. For example, dataacquisition may be triggered in phase with the blocking of the incominglight by chopper wheel 260, or in phase with the passing of the lightthrough openings 261 of chopper wheel 260. In this way, data acquired bythe sensor when one or more apertures are blocked by chopper wheel 260may be compared with data acquired when no apertures are blocked bychopper wheel 260, and so the contribution of light from each aperturemay be identified. In some examples, a lock-in amplifier is used toselectively amplify the modulated signal and reject any signals that donot vary with the phase and/or frequency associated with the modulator.

Although sky-water collectors disclosed herein are primarily describedas enabling measurement of light from sky and from water simultaneously,they may be used to simultaneously measure light from any two suitablesources. For example, a sky-water collector may be included in ahyperspectral sensing device deployed underwater, and the sky-watercollector may collect light originating near the floor of the body ofwater and light originating near the surface of the body of water. Thehyperspectral sensing device may then simultaneously measure radiancesof floor light and surface light.

Illustrative examples of sky-water collectors are described below.Various components of the illustrative sky-water collectors describedbelow may be combined in any suitable combination.

i. Illustrative Convex Reflector Collector

An illustrative convex reflector collector 270 is depicted in FIG. 9.Convex reflector collector 270 is an example of sky-water collector 250.Convex reflector collector 270 includes a convex reflector 272, which isan example of optical director 258. Convex reflector 272 is a curvedreflective element configured to direct light entering convex reflectorcollector 270 toward the sensor. Convex reflector 272 may focus light ata primary focus point between the convex reflector and the sensor.Sky-radiance aperture 254, water-radiance aperture 256, and convexreflector 272 are disposed such that light entering through thewater-radiance aperture and light entering through the sky-radianceaperture reflect from the convex reflector along substantially paralleloptical paths and/or substantially overlapping optical paths (e.g.,light from the two apertures may co-propagate after reflecting from theconvex reflector). Modulator 259 may be disposed adjacent one of theapertures such that light entering the aperture is modulated prior toreflecting from convex reflector 272. In the example depicted in FIG. 9,modulator 259 is disposed exterior to sky-radiance aperture 254, butmodulators may additionally or alternatively be disposed interior to thesky-radiance aperture, and/or exterior and/or interior to water-radianceaperture 256. For example, modulator 259 may be disposed interior to thesky-radiance aperture, such that modulator 259 is disposed between thesky-radiance aperture and convex reflector 272.

ii. Illustrative Movable Reflector Collector

An illustrative movable reflector collector 280 is depicted in FIG. 10.Movable reflector collector 280 is an example of sky-water collector250. Movable reflector collector 280 includes a movable reflector 282,which is an example of optical director 258. Movable reflector 282comprises a reflective optical element mounted rotatably within movablereflector collector 280. Movable reflector 282 may additionally oralternatively be mounted translatably within movable reflector collector280. Movable reflector 282, sky-radiance aperture 254, andwater-radiance aperture 256 are disposed within movable reflectorcollector 280 such that positioning the movable reflector at a firstposition (e.g., a first orientation) causes light entering from thesky-radiance aperture to be reflected toward sensor 40 and lightentering from the water-radiance aperture to be reflected away from thesensor, and positioning the movable reflector at a second positioncauses light entering from the sky-radiance aperture to be reflectedaway from the sensor and light entering from the water-radiance apertureto be reflected toward the sensor. The position of movable reflector 282may be adjusted very quickly to switch between measurements of skyradiance and water radiance, and no other component of movable reflectorcollector 280 requires adjustment to switch from sky to water radiancemeasurements. Therefore, movable reflector collector 280 may bedescribed as capable of substantially simultaneous measurements of skyand water radiance.

One or more beam blocks 284 configured to substantially preventtransmission and specular reflection of impinging light may be disposedwithin movable reflector collector 280 to block light that is notdirected toward the sensor. Use of beam blocks 284 may reduce straylight reaching the sensor and thereby decrease noise and uncertainty inthe hyperspectral measurement. Movable reflector collector 280 mayinclude one or more modulators 259.

iii. Illustrative Movable Disperser Collector

An illustrative movable disperser collector 290 is depicted in FIG. 11.Movable disperser collector 290 is an example of sky-water collector250. Movable disperser collector 290 includes a movable dispersingelement 292, which is an example of optical director 258. Movabledispersing element 292 is a dispersing optical element (e.g., a prism,grating, and/or any other suitable element configured to direct light ina wavelength-dependent direction) mounted rotatably within movabledisperser collector 290, and may additionally or alternatively bemounted translatably within the collector. Movable dispersing element292, sky-radiance aperture 254, and water-radiance aperture 256 aredisposed within movable disperser collector 290 such that positioningthe movable dispersing element at a first position (e.g., a firstorientation) causes light entering from the sky-radiance aperture to bereflected toward the sensor and light entering from the water-radianceaperture to be reflected away from the sensor, and positioning themovable dispersing element at a second position causes light enteringfrom the sky-radiance aperture to be reflected away from the sensor andlight entering from the water-radiance aperture to be reflected towardthe sensor. Beam blocks 284 may be disposed within movable dispersercollector 290 to block stray light from the detector. Modulator 259 maybe included. Because movable dispersing element 292 spatially separateslight according to wavelength, dispersing elements typically included inthe sensor may be omitted when movable disperser collector 290 is used.For example, the sensor may comprise replaced by a linear CMOS or CCDarray rather than a spectrometer.

iv. Illustrative Beamsplitter Collector

An illustrative beamsplitter collector 300 is depicted in FIG. 12.Beamsplitter collector 300 is an example of sky-water collector 250.Beamsplitter collector 300 includes a beamsplitter 302 configured tocombine light impinging on the beamsplitter from two or more directionsinto a single copropagating beam of light. Typically, beamsplitter 302is configured to reflect a portion of incoming light and to transmit aportion of incoming light. Beamsplitter 302 may comprise a partiallyreflecting mirror, a beamsplitter cube, a fiber-optic beamsplitter, ahalf-silvered mirror, a pellicle (e.g., a thin membrane), a waveguidebeamsplitter, and/or a micro-optic beam splitter. Beamsplitter 302,sky-radiance aperture 254, and water-radiance aperture 256 are disposedwithin beamsplitter collector 300 such that light from the sky-radianceaperture and light from the water-radiance aperture impinge on thebeamsplitter from different directions and are emitted by thebeamsplitter in the same direction toward the sensor. One or moretransmissive polarizing elements (e.g. a wire-grid polarizer, aquarter-wave plate, etc.) and/or reflective polarizing elements (e.g., athin film, another beamsplitter, etc.) may be disposed betweenbeamsplitter 302 and sky-radiance aperture 254, and/or betweenbeamsplitter 302 and water-radiance aperture 256, in order to polarizethe light. The polarizing elements may polarize the light linearly,circularly, and/or elliptically. Beamsplitter 302 may be a polarizingbeamsplitter, and the polarizing elements may be configured to polarizethe sky light and/or water light such that substantially all of the skylight and water light is combined at the beamsplitter and directedtoward the sensor. Additionally, beam blocks, mirrors and/or othersuitable reflectors, and/or modulators may be included as needed.

v. Illustrative Sky-Water-Plaque Collector

An illustrative sky-water-plaque collector 310 is depicted in FIG. 13.Sky-water-plaque collector 310 is configured to collect light from thesky, from the water, and from a reference plaque substantiallysimultaneously. Sky-water-plaque collector 310 includes a first opticalassembly 311 configured to combine two sources of light (e.g., from thesky and from the plaque, from the sky and from the water, or from thewater and from the plaque) into a first light combination, and totransmit the first light combination to a second optical assembly 312configured to combine the first light combination with a third source oflight (e.g., light from a source not included in the first lightcombination) to produce a second light combination including light fromall three sources. In the example depicted in FIG. 13, the first andsecond optical assemblies comprise beamsplitters, but any suitablecombination of optical elements may be included. One or more polarizingelements 315 may be included to polarize light such that it is reflectedby, or transmitted by, a polarizing beamsplitter in first opticalassembly 311. Additionally, or alternatively, polarizing elements may beconfigured to polarize light such that it is reflected or transmitted bysecond optical assembly 312, and/or any other suitable opticalcomponent(s). Mirrors and/or polarizing reflectors may be used to steerthe first light combination toward second optical assembly 312 and/or tosteer the second light combination toward the sensor. Any one or more ofthe sky light, plaque light, and water light may be independentlymodulated with a modulation depth, frequency, and/or pattern configuredto enable the light from the different sources to be distinguished fromeach other.

vi. Illustrative Sequential Plaque Collector

An illustrative sequential plaque collector 320 is depicted in FIG. 14.Sequential plaque collector 320 includes a sky-water collector 250(e.g., beamsplitter collector 300) and further includes an alternatingelement 322 configured to selectively direct sky light or plaque lightinto an entrance aperture of the collector. For example, alternatingelement 322 may include a reference plaque and a mirror, either or bothof which are movable. The mirror may be moved in front of the plaquesuch that it substantially blocks light reflected by the plaque fromentering the entrance aperture and reflects sky light into the entranceaperture, or moved away from the plaque such that light reflected by theplaque may enter the aperture. The mirror and/or the plaque may bedisposed on translation stages that are manually movable and/ormotorized. The mirror and/or the plaque may be mounted rotatably, suchthat the mirror may be rotated in front of the plaque for a sky radiancemeasurement and rotated away from the plaque for a plaque radiancemeasurement. Water light enters sequential plaque collector 320 througha second entrance aperture (e.g., water-radiance aperture 256)regardless of the position of alternating element 322. A simultaneousmeasurement of water-radiance and sky-radiance may therefore be followedimmediately by a simultaneous measurement of water-radiance andplaque-radiance. The time between the first simultaneous measurement andthe second simultaneous measurement is so short (due to the speed atwhich alternating element 322 may be moved, as well as timecharacteristics of the associated sensor) that the first and secondmeasurements may be considered nearly simultaneous with each other formany purposes. For example, atmospheric conditions such as cloud coverare likely to change very little between the first and secondmeasurements.

In the example depicted in FIG. 14, alternating element 322 alternatelyallows sky light or plaque light to enter a first aperture, while waterlight is never prevented from entering a second aperture. In otherexamples, alternating element 322 alternately allows water light orplaque light to enter the first aperture, while sky light is neverprevented from entering the second aperture.

Alternating element 322 may be added to any suitable sky-water collector250 (e.g., exterior to the sky-radiance aperture 254 or water radianceaperture 256) to make a sequential plaque collector

E. Illustrative Network of Hyperspectral Sensing Devices

With reference to FIG. 15, this section describes an illustrativehyperspectral sensing system 350 in accordance with aspects of thepresent teachings.

As depicted schematically in FIG. 15, system 350 comprises a pluralityof hyperspectral sensing devices 355. Devices 355 may comprise and/or besimilar to device 30 and/or any other suitable devices. Devices 355 maybe distributed across any suitable area. In some examples, devices 355are distributed adjacent to, on, and/or in a body of water (e.g., abovewater, underwater, on coasts, on buoys, on weather stations, and/or inany similar location). Additionally, or alternatively, devices 355 maybe distributed on land, on aerial vehicles, on weather balloons, and/orin any suitable location. Each device 355 is configured to acquirehyperspectral data and to transmit the acquired data to a locationremote from the device. Although a selected number of devices is shownin FIG. 15, more or fewer devices may be utilized, and system 350 mayinclude different numbers of devices at different times. In someexamples, subsets of devices within the system may be collocated.

Each device 355 is configured to communicate with a computer network 360via a wireless communications module of the device (e.g., input/outputhub 80, described above). Computer network 360 may be configured tocommunicate data (e.g., to transmit data to and/or receive data from) aserver 365 and/or any other suitable device. Communication betweendevices 355 and computer network 360, and/or between the network andserver 365, may comprise radio frequency (RF) antenna, GSM (GlobalSystem for Mobile Communications)/GPRS (General Packet Radio Service)cellular modem, Bluetooth® wireless technology, WiFi, and/or any othersuitable protocol.

Typically, devices 355 are configured for autonomous operation. In thismode, the devices transmit acquired data to server 365 via computernetwork 360 at selected intervals (e.g., on a predetermined schedule, inresponse to the acquired data meeting one or more criteria, and/or atany other suitable time). For example, data may be transmitted daily,several times per day, in real-time or near real-time (e.g., every 10-15minutes), and/or at any other suitable interval.

In some examples, server 365 transmits data and/or instructions to oneor more of the devices (e.g., to an input/output hub of a device). Thesecommunications from server 365 may include software and/or firmwareupdates, operating settings (e.g., sample rates, sample intervals,integration times, types of data, etc.), calibration routines, and/ordata transfer protocols of the devices. Additionally, or alternatively,server 365 may synchronize clocks of the devices, manage power settingsof the devices, and/or trigger specific routines (e.g., calibration).

In some examples, devices 355 are each configured to communicate withone or more of a plurality of different servers using one or moreparallel networks.

In examples wherein each device 355 includes two or more sensors (e.g.,two or more spectrometers, or at least one spectrometer and at least oneauxiliary sensor), any suitable electronics on board the device may beused to operate the sensors and to transmit the acquired data. Forexample, the device may include a dedicated microcontroller or otherprocessing logic for each of the sensors. Alternatively, a singlemicrocontroller may be configured to control all sensors, or a pluralityof the sensors. In some examples, a data processing system on board thedevice may be configured to control the sensors and/or to controlcommunication with network 360.

In cases wherein data from the two or more sensors is combined, the datamay be transmitted to server 365 independently and combined aftertransmission to reduce power usage of the local electronics module.However, in some cases, data from multiple sensors is combined prior totransmission to reduce transmission bandwidth.

F. Illustrative Method for Sky-Water Measurement

This section describes steps of an illustrative method 400 forsimultaneous or near-simultaneous measurement of a combination of skyradiance, water radiance, and/or plaque radiance; see FIG. 16. Aspectsof sky-water collectors 250 may be utilized in the method stepsdescribed below. Where appropriate, reference may be made to componentsand systems that may be used in carrying out each step. These referencesare for illustration, and are not intended to limit the possible ways ofcarrying out any particular step of the method.

FIG. 16 is a flowchart illustrating steps performed in an illustrativemethod, and may not recite the complete process or all steps of themethod. Although various steps of method 400 are described below anddepicted in FIG. 16, the steps need not necessarily all be performed,and in some cases may be performed simultaneously or in a differentorder than the order shown.

At step 402, the method includes receiving a first portion of light inan optical collector of a hyperspectral sensing system (e.g.,hyperspectral sensing device 30). For example, the first portion oflight may be light from the sky above a body of water. The first portionof light may be received via a first entrance aperture of the opticalcollector.

At step 404, the method optionally includes modulating the first portionof light. For example, the first portion of light may beamplitude-modulated using a chopper wheel.

At step 406, the method includes receiving a second portion of light inthe optical collector, e.g., via a second entrance aperture of theoptical collector. For example, the second portion of light may be lightupwelling from a body of water.

At step 408, the method optionally includes modulating the secondportion of light, e.g., using a chopper wheel.

At step 410, the method optionally includes receiving a third portion oflight in the optical collector. The third portion of light may bereceived via a third entrance aperture of the collector. The thirdportion of light may be light reflected from a reference plaque.

At step 412, the method optionally includes modulating the third portionof light. If more than one of the first, second, and third portions oflight are modulated, they are modulated in different patterns. Forexample, they may be modulated with chopper wheels 260 having openingsof different sizes, having blocking portions of different sizes, and/orhaving different speeds of rotation. The different modulation enablesthe measurements of the first, second, and third light portions to bedistinguished from each other, e.g., as described above with referenceto chopper wheel 260.

At step 414, the method includes directing the first portion of lighttoward a sensor (e.g., toward an entrance aperture of sensor 40 and/ortoward an imaging detector such as a CCD or CMOS array). At step 416,the method includes directing the second portion of light toward thesensor. At step 418, the method optionally includes directing the thirdportion of light, if it is present, toward the sensor. Directing any oneof the portions of light toward the sensor may include reflecting thelight from a reflective optical element, dispersing the light with adispersive optical element, and/or diffracting the light with adiffractive optical element. Directing the portions of light toward thesensor may include combining one or more portions of light using apolarizing or nonpolarizing beamsplitter. Combining one or more portionsof light using a polarizing beamsplitter may include polarizing at leastone of the portions of light (e.g., using a wire-grid polarizer,quarter-wave plate, and/or thin-film polarizer) such that it reflectsfrom the beamsplitter and is combined with at least one portion of lightthat impinges on the beamsplitter from another direction and istransmitted. In some cases, two portions of light may be combined firstand subsequently combined with the third portion of light. In someexamples, directing the first, second, and/or third portion of lighttoward the sensor includes adjusting a position of an optical element,such as a rotatable mirror. In some embodiments, steps 402 and 414 maybe performed simultaneously and/or before step 406.

At step 420, the method includes measuring a spectrum of light impingingon the sensor. The impinging light typically includes the first, second,and/or third portions of light directed toward the sensor in steps414-418. Measuring a spectrum of the light may include using atransducer configured to convert intensity of received light into anelectrical voltage or current signal readable by an electronics module.In some examples, measuring a spectrum of the impinging light mayinclude dispersing the impinging light with a dispersive optical elementsuch as a blazed grating, such that spectral components of the impinginglight are spatially separated. Measuring the spectrum may furtherinclude measuring an intensity of light at a variety of spatial points(e.g., using a CMOS linear array) and converting the spatial points intospectral information.

At step 422, the method optionally includes logging the measured data(e.g., the voltage signals read by the electronics module) in a volatileor nonvolatile storage medium (e.g., a memory) associated with thehyperspectral sensor. Alternatively, or additionally, the measured datamay be transmitted to an external device.

G. Illustrative Method for Hyperspectral Measurements Using a LightSource

This section describes steps of an illustrative method 500 forhyperspectral measurements of absorption, fluorescence, luminescence,and/or scattering; see FIG. 17. Aspects of hyperspectral sensing device30 may be utilized in the method steps described below. Whereappropriate, reference may be made to components and systems that may beused in carrying out each step. These references are for illustration,and are not intended to limit the possible ways of carrying out anyparticular step of the method.

FIG. 17 is a flowchart illustrating steps performed in an illustrativemethod, and may not recite the complete process or all steps of themethod. Although various steps of method 500 are described below anddepicted in FIG. 17, the steps need not necessarily all be performed,and in some cases may be performed simultaneously or in a differentorder than the order shown.

At step 502, the method includes positioning a sample, a light source,and an optical collector of a hyperspectral sensing system. Thecollector may comprise a slit of fixed width, and may further includeoptical components as discussed elsewhere herein. Positioning thesample, the light source and the collector may include immersing thelight source and/or collector in water (e.g., placing the collector andlight source underwater). In this case, the hyperspectral measurementsare made underwater, and the water may be the sample. In some examples,the sample is between the light source and the collector. In someexamples, the light source and the collector form a desired angle withsample, which may be an acute angle (e.g., to enable back-scatteringmeasurements).

In some examples, step 502 includes disposing one or more tagging agentsin the sample (e.g., biologically and/or chemically altering the sampleby addition of the tagging agents). Tagging agents are configured tobind with specific predetermined substances such as biological cells,sub-cellular structures, sub-sub-cellular structures and/or compounds(e.g., proteins), and to exhibit identifiable wavelength-dependentluminescent and fluorescent signatures (e.g., in response toillumination by a suitable light source). The addition of tagging agentsto the sample thus enables the identification of the tagged substances(e.g., a specific cellular species) and/or determination of theabundance, mass, or density of the tagged substance based on theintensity of the fluorescence, the volume of the sample throughout whichthe tagging agents are distributed, and/or any other suitable factors.Suitable tagging agents may include lanthanides and/or any othersuitable reagents.

At step 504, the method includes illuminating the sample with the lightsource. The light source may be an LED, laser, lamp, and/or any othersuitable device configured to emit light. In some examples, the lightsource is modulated.

At step 506, the method includes receiving light propagating from thesample using the collector. The collector may receive light propagatingfrom the sample along a predetermined direction and/or within apredetermined solid angle. Receiving light propagating from the samplemay include receiving light that originated in the light source and wasscattered elastically or inelastically from the sample, was reflectedfrom the sample, and/or was transmitted through the sample, and/or mayinclude receiving light that was produced by fluorescence within thesample (e.g., by substances within the sample, by tagging agents withinthe sample, etc.). The collector may be configured to attenuate and/orblock light received directly from the light source.

At step 508, the method includes measuring a spectrum of the receivedlight. Measuring a spectrum of the received light may include directingthe light toward a sensor, such as a compact spectrometer, using thecollector.

At step 510, the method optionally includes logging the measured data ina memory device of the hyperspectral sensing system.

H. Illustrative Method for Assessing Water Quality

This section describes steps of an illustrative method 600 for assessingwater quality; see FIG. 18. Aspects of hyperspectral sensing systems anddevices described above may be utilized in the method steps describedbelow. Where appropriate, reference may be made to components andsystems that may be used in carrying out each step. These references arefor illustration, and are not intended to limit the possible ways ofcarrying out any particular step of the method.

FIG. 18 is a flowchart illustrating steps performed in an illustrativemethod, and may not recite the complete process or all steps of themethod. Although various steps of method 600 are described below anddepicted in FIG. 18, the steps need not necessarily all be performed,and in some cases may be performed simultaneously or in a differentorder than the order shown.

A step 602, the method includes receiving ambient light through a firstaperture of a housing of an optical device (e.g., device 30) disposedadjacent a surface of a body of water. The first aperture may be, e.g.,the aperture of an optical collector of the device. The first apertureis directed at the surface of the body of water, such that lightreceived through the first aperture includes light reflected from thesurface and light passing through the surface from underneath.

At step 604, the method includes receiving ambient light through asecond aperture of the housing, the second aperture being directed atthe sky. Light received from the second aperture therefore includeslight coming from the sky. The second aperture may be, e.g., a secondaperture of an optical collector of the device, which may be the samecollector that includes the first aperture, or a different collector ofthe device. Receiving light at step 602 and/or step 604 may includemodulating the received light (e.g., to facilitate distinguishingmeasurements of the light received through the different apertures).

At step 606, the method includes directing light received from the firstand second apertures into a sensor assembly disposed within a housing ofthe device. The light may be directed by any suitable optical assembly.In some examples, the sensor assembly includes a first spectrometer forsensing light received through the first aperture and a secondspectrometer for sensing light received through the second aperture.Alternatively, the sensor assembly may comprise only one spectrometer,and light received through either aperture is directed to the samespectrometer. In the latter case, light from the two apertures may bedirected simultaneously or sequentially to the common spectrometer(e.g., using aspects of illustrative sky-water collectors describeabove).

At step 608, the method includes sensing, using the sensing assembly,data corresponding to a spectrum of the light received from the firstand second apertures. The spectrometer(s) of the sensing assembly havesufficient spectral resolution to enable hyperspectral measurements. Thedata may be sensed simultaneously or sequentially.

At step 610, the method optionally includes sensing data correspondingto a spectrum of light reflected by a reference plaque. As described inSection D, a reference plaque typically comprises a flat, rigid surfacehaving known reflectance properties and configured to reflect incidentlight diffusely and isotropically (e.g., a Lambertian reflector).Accordingly, with the reference plaque positioned above the surface ofthe water, a spectrum of light reflected from the sensing plaque may beused to determine wavelength-dependence of the irradiance of downwellinglight from the sky in all directions. This may be used to calculate aremote-sensing reflectance (e.g., a measure of how much of the radiancetraveling in all downward directions is reflected upward into anydirection), and/or any other suitable property. Sensing datacorresponding to the spectrum reflected by the reference plaquetypically includes receiving data light reflected by the referenceplaque through any suitable aperture of the device, including the firstor second apertures, and sensing the spectrum using any suitablespectrometer.

At step 612, the method includes determining, based on the sensed data,a spectrum of light originating underneath the surface of the water(e.g., water-leaving light). For example, a remote-sensing reflectancemay be calculated based on the following equation:

$R_{rs} = {\frac{\left( {S_{T} - {{\rho (\theta)}S_{s}}} \right)}{\pi \left( {S_{ref}/R_{ref}} \right)}.}$

In this equation, ST represents a measured signal of light receivedthrough the first aperture (the water-directed aperture), Ss representsa measured signal of light received through the second aperture (thesky-directed aperture), S_(ref) represents an average measured signalfrom a reference plaque, and R_(ref) represents a reflectivity of theplaque. The measured signal from the second aperture is multiplied byρ(θ), a proportionality factor relating radiance measured when thedetector views the sky to the reflected sky radiance measured when thedetector views the sea surface. The value of this proportionality factormay depend on wind speed and direction, detector field of view, and skyradiance distribution. The proportionality factor may be a Mobleyproportionality factor. The factor of π converts the reflected plaqueradiance to an irradiance (e.g., it converts direction-dependent data todirection-independent data). Alternatively, or additionally, calculatingthe remote-sensing reflectance may include determining a surfacecorrection of the radiance received through the sky-directed aperturebased on a bidirectional reflectance distribution function.

As described above in Section D, the remote-sensing reflectance obtainedby this calculation comprises information about a spectrum of lightoriginating underneath the surface of the water (e.g., the water-leavinglight); specifically, the remote-sensing reflectance is awavelength-dependent ratio of radiance leaving the water in a particularviewing direction to the total sky irradiance just above the water'ssurface. Accordingly, the remote-sensing reflectance may be used toinfer information about, e.g., biological, chemical, and/or geologicalconstituents in the water containing substances (e.g., pigments) thatalter optical properties of the water. In other examples, a spectrum oflight originating underneath the surface of the water may be obtained inanother way.

As described above, in some examples light received through the firstand second apertures are measured by a same spectrometer, possiblysimultaneously. In other words, a signal measured by the spectrometerincludes contributions from light received through the first apertureand contributions from light received through the second aperture. Inthese examples, determining a spectrum of water-leaving light at step612 includes distinguishing the two contributions (e.g., to obtain thesignals ST and Ss described above). Typically, distinguishing the twocontributions is facilitated by modulating the light received throughone or both apertures (e.g., prior to measuring the light with thespectrometer), as described above with reference to steps 602 and 604.As an example, if the light is modulated such that light from oneaperture is periodically blocked (or otherwise prevented from reachingthe spectrometer), then the two contributions may be distinguished bysubtracting a spectrum obtained when light from one aperture is blockedfrom a spectrum obtained when neither aperture is blocked. For example,the spectrum of light received through the sky-directed aperture couldbe subtracted from the combined spectrum of light received through bothapertures. Typically, light received through one aperture (usually thesky-directed aperture) has a higher intensity than light receivedthrough the other aperture, and subtracting the higher of the twosignals from the combined signal may increase the accuracy of thecalculation. The subtraction may be performed by hardware and/orsoftware.

Additionally, or alternatively, the contributions from the sky-directedaperture and the water-directed aperture may be separated usingdifferential spectral and/or a filter configured to selectively rejectand/or transmit one or both contributions based on a frequency and/orphase of modulation. In some cases, a lock-in amplifier may be used toisolate one of the contributions, based on the frequency and/or phase ofmodulation. In some cases, light received through one or both aperturesis wavelength-modulated (e.g., using a movable dispersing element) tofacilitate separation of the two signals using a spectral filter. Basedon known properties of the wavelength modulator, the measuredwavelength-modulated spectra can be corrected. These techniques may beimplemented in hardware and/or software.

Any processing performed to distinguish the two contributions may beperformed on board the device or on an external data processing system(or other suitable device).

At step 614, the method optionally includes using the sensed data and/orthe determined spectrum of water-leaving light to update remote-sensingdata of the same body of water obtained by an airborne device.Remote-sensing data (e.g., wavelength-dependent reflectances of groundand/or bodies of water) obtained by an airborne device (e.g., asatellite, aircraft, unmanned aerial vehicle, and/or the like) commonlyincludes inaccuracies due to the passage of the sensed light through theatmosphere. Clouds, turbulence, and/or other aspects of the atmospheremay distort the light as it travels from the ground to the airbornedevice, such that the measured light does not accurately representoptical properties of the ground and/or water being surveyed.Additionally, an airborne device positioned high above the surface ofthe Earth may have a lower temporal, spatial, and/or spectral resolutionthan an instrument disposed nearer the ground. Accordingly, theremote-sensing data obtained by the airborne device may becross-referenced with the spectrum obtained at step 612 in order tocorrect inaccuracies in the remote-sensing data. Corrections obtained inthis manner may be extrapolated to remote-sensing data obtained in areaswhere no other data is available.

As an alternative, or addition, to the above method, a plurality ofoptical devices may be disposed adjacent the surface of the body ofwater, with each device having a respective aperture pointed atapproximately a same portion of the surface. The devices, or collectingoptics of the devices, are positioned such that each of the respectiveapertures is directed at the surface at a different orientation (e.g.,at different angles relative to azimuth and/or zenith, resulting in adifferent viewing geometry). Data corresponding to a spectrum of lightreceived through each aperture is sensed by sensing assemblies of thedevices. Based on the sensed data, a spectrum of light originatingunderneath the surface of the water is determined. For example, a totaldownwelling irradiance from the sky may be collected (e.g., using adiffuser/cosine corrector and/or reflectance plaque), and thewater-leaving radiance may be calculated based on data sensed by thesurface-directed devices and the total downwelling irradiance.

Calculating the water-leaving radiance may include, e.g., modeling abidirectional reflectance distribution function for the surface of thewater. The bidirectional reflectance distribution function may bedetermined based on, e.g., the solar zenith and azimuth (determined bymeasurements, date and time and geographic position of measurement,and/or any other suitable factors), device zenith and azimuth, field ofview, surface roughness (based e.g. on wind speed), and a suitable modelof light behavior at the water-sky interface. A suitable model of lightbehavior at the water-sky interface may include, e.g. transmittance andreflectance amplitudes, phase, and polarization at the interface basedon Fresnel equations, Maxwell's equations, and/or any other suitablemodel.

Based on the bidirectional reflectance distribution function of thesurface, the amount of surface-reflected radiance that each device istheoretically expected to measure may be calculated. This theoreticalprediction may be compared to the radiance actually measured by eachdevice, which includes both surface-reflected radiance and water-leavingradiance. Based on the theoretical prediction, the differences insignals measured by the devices viewing the same portion of the surfacefrom different directions may be used to obtain an estimate of thecontribution of the surface-reflected radiances to the measured signals.Based on this estimate, the water-leaving radiance corresponding to eachdevice is calculated (e.g., by subtracting the estimatedsurface-reflection contributions from the measured signals). Theremote-sensing reflectance corresponding to each device may be obtainedby dividing the water-leaving radiance by the total sky irradiance.

Alternatively, the water-leaving radiance may be calculated without anexplicit model of the bidirectional reflectance distribution functionfor the surface of the water. For example, the relationship between theupwelling radiances measured by the plurality of devices may beestimated (based on, e.g., the measurement angles of the devices), andthis relationship may be used to estimate the water-leaving radiance.Estimating the relationship between the measured upwelling radiances mayinclude using a linear or nonlinear fit on the measured data and/or asimulation predicting the radiances. In some examples, at least two ofthe devices are configured to have viewing angles at which thewater-leaving radiances are predicted (e.g., by angular symmetry at agiven time of day and location) to be substantially equal. This maysimplify the calculation of the relationship between the measuredradiances.

According to this method, no sky-directed aperture is required, thoughone may optionally be used.

I. Illustrative Method for Acquiring Hyperspectral Data Above Water andUnderwater

This section describes steps of an illustrative method 700 for acquiringhyperspectral data above water and underwater using a single device; seeFIG. 19. Aspects of hyperspectral sensing systems and devices describedabove (e.g., device 30) may be utilized in the method steps describedbelow. Where appropriate, reference may be made to components andsystems that may be used in carrying out each step. These references arefor illustration, and are not intended to limit the possible ways ofcarrying out any particular step of the method.

FIG. 19 is a flowchart illustrating steps performed in an illustrativemethod, and may not recite the complete process or all steps of themethod. Although various steps of method 700 are described below anddepicted in FIG. 19, the steps need not necessarily all be performed,and in some cases may be performed simultaneously or in a differentorder than the order shown.

At step 702, the method includes positioning a hyperspectral sensingdevice underwater. Typically, the entire device is immersed in water(e.g., in a body of water such as an ocean), but in some examples, onlya portion of the device is immersed (e.g., the optical collector). Thedevice typically includes a wireless communications module and a powersupply. Accordingly, when the device is deployed underwater, it need notbe connected by a power cable or data cable to another platform ordevice (e.g., a ship on the water's surface). This reduces the risk thatanother platform or device will cast a shadow over the area beingsampled, or otherwise interfere with the sample.

At step 704, the method includes acquiring a first portion ofhyperspectral data underwater. Acquiring the data typically includescollecting light (e.g., ambient light) with a collector of the deviceand transferring the collected light to a suitable sensor of the device(e.g., a compact spectrometer). Acquiring the data may further includescanning a region or object of interest (e.g., by adjustment of thecollector to collect light from different spatial areas or directions,by transporting the device on an underwater vehicle such that thecollector collects light from different areas, and/or the like).

At step 706, the method includes positioning the device above water(e.g., moving the device from an underwater position to an above-waterposition). The above-water position may comprise a ship, buoy, platform,shore, or other suitable location near the water. Alternatively, theabove-water position may be located far from the water in which thedevice had been immersed. In some examples, the above-water position isin the air (e.g., with the device mounted on an unmanned aerial vehicleor other suitable device).

At step 708, the method includes acquiring a second portion ofhyperspectral data above water. Acquiring the data includes collectinglight and may include scanning a region or object of interest, asdescribed above with reference to step 704. The sensor of the device isconfigured to acquire data both underwater and above-water. For example,the sensor is sufficiently sensitive to acquire data with a suitablesignal-to-noise ratio in underwater environments, which are typicallyassociated with low light levels, and is also capable of acquiring datain bright above-water environments (e.g., the sensor has a high dynamicrange). In some examples, one or more settings of the sensor and/orcollector are changed for the acquisition of the second portion of data.For example, an integration time, sampling rate, aperture size, filterselection, and/or other suitable parameter may be different when thedevice acquires data above water compared to when the device acquiresdata underwater. Such a parameter may be varied automatically by acontroller on board the device (e.g., in response to measuring a higherlight level, lower external pressure, and/or other suitable indication)and/or may be changed by a user (e.g., a user communicating with thecontroller via an external computer). In some cases, the collector usedunderwater is replaced with a different collector when the device isremoved from the water, but the same spectrometer is used in bothenvironments.

At step 710, the method optionally includes logging the acquired firstand second data portions on a memory store of the device.

In some examples, steps 706-708 are performed prior to steps 702-704.That is, the above-water measurements may be performed prior toimmersing the device in water and performing the underwatermeasurements.

In some examples, the steps of positioning the device above water andpositioning the device underwater include deliberately moving the deviceto selected locations. Alternatively, these steps may occurautomatically as the device is immersed in water due to changingenvironmental conditions. For example, the device may disposed on aplatform that is sometimes immersed in water (e.g., due to changingtides).

J. Illustrative Embedded Microcontroller Architecture

In some examples, electronics module 70 comprises an embedded-systemsmicrocontroller architecture 800. Power supply 90 and/or input/outputhub 80 may be integrated into embedded microcontroller architecture 800.An example embedded microcontroller architecture 800 is depictedschematically in FIG. 20.

Using embedded microcontroller architecture 800, hyperspectral sensingdevice 30 is powered by a DC regulator from a power supply such as aninternal battery or an auxiliary power supply, which provides stablepower output independent of the changes in the electrical load, and canbe provided via USB, inductive charging or external power source. Thepower supply is configured to meet the demand of the on-board sensors,and therefore a DC step-up voltage amplifier can be used to increase theoutput of a low-voltage battery (such as 3.7V LiPoly/LiIon) to anoperating voltage of, for example, 5V. A DC-DC converter can also beused to lower and regulate a higher-voltage DC power supply (for example12V) to an operating voltage of 5V, or to multiple voltage levelsselected for optimal operation of various sensors and devices. The poweris supplied to the micro-controller unit (MCU), sensors, externalanalog-to-digital converter circuitry as well as input-output (I/O) hub80.

Although many micro-controller units feature an integrated multi-channelanalog-to-digital converter (ADC), one or multiple externalfunction-specific ADCs may be used to address the needs to processanalog signals at high sample rates, in some cases in excess of1-million samples-per-second (SPS) and/or with increased digitalprecision, e.g., in the range of 10-bit to 16-bit, or 18-bit, or higher.The analog to digital conversion can be pre-amplified and conditionedusing any number of gain-amplification, signal-conditioning, and/orelectronics filtering stages, or can be referenced to differentialsignals to boost the signal while suppressing electronic noise. Thedigitized video signal from the ADC (from either the hyper-spectral orother analog sensors) are ingested and processed by the MCU and storedin memory, such as a flash memory storage device, e.g., an SD or microSDcard, or other memory device for later transfer to an external hostcomputer for additional levels of data processing. The data mayadditionally be directly up-linked in real-time (while measurements areprogressing, or at regularly scheduled intervals) to land-based systemsthrough a wireless or wired device communication port, such as USB,WiFi, Bluetooth, Bluetooth LE, GSM, Iridium, etc.

The micro-controller (MCU) supplies the operating voltage, clock andtrigger timing signals to the sensor 40. The supplied clock rate is usedto operate the sensor acquisition and output (video) data rate, whilethe trigger signal is used to initiate and end the optical integration(or image acquisition), based on the control input from the MCU. Thetrigger control operation can be programmed via software or firmware andmay be adjustable for example based on processing of the camera videooutput. Additionally, if multiple hyper-spectral sensors are used, thetrigger signal may be set to sequentially or synchronously acquire datafrom multiple sensors.

In some example triggering schemes, the integration time is determinedreal-time via software control based on inputs from external signalssupplied to the MCU from auxiliary sensors 50. This may for exampleinclude temperature, pressure, GPS location, compass heading, tilt/yaw,etc., whereby the sensor would be set to trigger data acquisitions, whenspecific conditions for these parameters are met. For example, the dataacquisitions may be set to trigger operating at specific depth intervalsor at specific sensor tilt angles. The trigger and clock rates may alsobe modulated simply to budget the data output rates or manage powerconsumption during longer operating deployments. Also, the trigger maybe activated at specific times in concert with a specific light source60 or engagement of an optical filter in collector 35 to enable anabsorbance, back-scattering or fluorescence measurement.

In some examples, particularly if data or computational bandwidthlimitation exceed the capability of a single MCU, a more powerfulmicro-processing unit (MPU) or multiple micro-controller units may beused to control and operate driving circuitry for different subsystems,for example for adjustments of the collector aperture, pointing/steeringcontrol of the instrument, image stabilization, or fusing ofmulti-sensor inputs.

K. Illustrative Data Processing System

As shown in FIG. 21, this example describes a data processing system 900(also referred to as a computer, computing system, and/or computersystem) in accordance with aspects of the present disclosure. Dataprocessing system 900 is an illustrative data processing system suitablefor implementing aspects of the hyperspectral sensing systems anddevices described above. More specifically, in some examples, devicesthat are embodiments of data processing systems (e.g., smartphones,tablets, personal computers) may be included on a hyperspectral sensingdevice (e.g., as part of an on-board electronics module) and used tocontrol acquisition of data by a sensor of the device and/or datacommunications between the device and a remote server. Additionally, oralternatively, devices that are embodiments of data processing systemsmay be used to communicate with hyperspectral sensing device(s) to,e.g., program the devices, retrieve data from the devices, etc.

In this illustrative example, data processing system 900 includes asystem bus 902 (also referred to as communications framework). Systembus 902 may provide communications between a processor unit 904 (alsoreferred to as a processor or processors), a memory 906, a persistentstorage 908, a communications unit 910, an input/output (I/O) unit 912,a codec 930, and/or a display 914. Memory 906, persistent storage 908,communications unit 910, input/output (I/O) unit 912, display 914, andcodec 930 are examples of resources that may be accessible by processorunit 904 via system bus 902.

Processor unit 904 serves to run instructions that may be loaded intomemory 906. Processor unit 904 may comprise a number of processors, amulti-processor core, and/or a particular type of processor orprocessors (e.g., a central processing unit (CPU), graphics processingunit (GPU), etc.), depending on the particular implementation. Further,processor unit 904 may be implemented using a number of heterogeneousprocessor systems in which a main processor is present with secondaryprocessors on a single chip. As another illustrative example, processorunit 904 may be a symmetric multi-processor system containing multipleprocessors of the same type.

Memory 906 and persistent storage 908 are examples of storage devices916. A storage device may include any suitable hardware capable ofstoring information (e.g., digital information), such as data, programcode in functional form, and/or other suitable information, either on atemporary basis or a permanent basis.

Storage devices 916 also may be referred to as computer-readable storagedevices or computer-readable media. Memory 906 may include a volatilestorage memory 940 and a non-volatile memory 942. In some examples, abasic input/output system (BIOS), containing the basic routines totransfer information between elements within the data processing system900, such as during start-up, may be stored in non-volatile memory 942.Persistent storage 908 may take various forms, depending on theparticular implementation.

Persistent storage 908 may contain one or more components or devices.For example, persistent storage 908 may include one or more devices suchas a magnetic disk drive (also referred to as a hard disk drive or HDD),solid state disk (SSD), floppy disk drive, tape drive, Jaz drive, Zipdrive, flash memory card, memory stick, and/or the like, or anycombination of these. One or more of these devices may be removableand/or portable, e.g., a removable hard drive. Persistent storage 908may include one or more storage media separately or in combination withother storage media, including an optical disk drive such as a compactdisk ROM device (CD-ROM), CD recordable drive (CD-R Drive), CDrewritable drive (CD-RW Drive), and/or a digital versatile disk ROMdrive (DVD-ROM). To facilitate connection of the persistent storagedevices 908 to system bus 902, a removable or non-removable interface istypically used, such as interface 928.

Input/output (I/O) unit 912 allows for input and output of data withother devices that may be connected to data processing system 900 (i.e.,input devices and output devices). For example, input device 932 mayinclude one or more pointing and/or information-input devices such as akeyboard, a mouse, a trackball, stylus, touch pad or touch screen,microphone, joystick, game pad, satellite dish, scanner, TV tuner card,digital camera, digital video camera, web camera, and/or the like. Theseand other input devices may connect to processor unit 904 through systembus 902 via interface port(s) 936. Interface port(s) 936 may include,for example, a serial port, a parallel port, a game port, and/or auniversal serial bus (USB).

Output devices 934 may use some of the same types of ports, and in somecases the same actual ports, as input device(s) 932. For example, a USBport may be used to provide input to data processing system 900 and tooutput information from data processing system 900 to an output device934. Output adapter 938 is provided to illustrate that there are someoutput devices 934 (e.g., monitors, speakers, and printers, amongothers) which require special adapters. Output adapters 938 may include,e.g. video and sounds cards that provide a means of connection betweenthe output device 934 and system bus 902. Other devices and/or systemsof devices may provide both input and output capabilities, such asremote computer(s) 960. Display 914 may include any suitablehuman-machine interface or other mechanism configured to displayinformation to a user, e.g., a CRT, LED, or LCD monitor or screen, etc.

Communications unit 910 refers to any suitable hardware and/or softwareemployed to provide for communications with other data processingsystems or devices. While communication unit 910 is shown inside dataprocessing system 900, it may in some examples be at least partiallyexternal to data processing system 900. Communications unit 910 mayinclude internal and external technologies, e.g., modems (includingregular telephone grade modems, cable modems, and DSL modems), ISDNadapters, and/or wired and wireless Ethernet cards, hubs, routers, etc.Data processing system 900 may operate in a networked environment, usinglogical connections to one or more remote computers 960. A remotecomputer(s) 960 may include a personal computer (PC), a server, arouter, a network PC, a workstation, a microprocessor-based appliance, apeer device, a smart phone, a tablet, another network note, and/or thelike. Remote computer(s) 960 typically include many of the elementsdescribed relative to data processing system 900. Remote computer(s) 960may be logically connected to data processing system 900 through anetwork interface 962 which is connected to data processing system 900via communications unit 910. Network interface 962 encompasses wiredand/or wireless communication networks, such as local-area networks(LAN), wide-area networks (WAN), and cellular networks. LAN technologiesmay include Fiber Distributed Data Interface (FDDI), Copper DistributedData Interface (CDDI), Ethernet, Token Ring, and/or the like. WANtechnologies include point-to-point links, circuit switching networks(e.g., Integrated Services Digital networks (ISDN) and variationsthereon), packet switching networks, and Digital Subscriber Lines (DSL).

Codec 930 may include an encoder, a decoder, or both, comprisinghardware, software, or a combination of hardware and software. Codec 930may include any suitable device and/or software configured to encode,compress, and/or encrypt a data stream or signal for transmission andstorage, and to decode the data stream or signal by decoding,decompressing, and/or decrypting the data stream or signal (e.g., forplayback or editing of a video). Although codec 930 is depicted as aseparate component, codec 930 may be contained or implemented in memory,e.g., non-volatile memory 942.

Non-volatile memory 942 may include read only memory (ROM), programmableROM (PROM), electrically programmable ROM (EPROM), electrically erasableprogrammable ROM (EEPROM), flash memory, and/or the like, or anycombination of these. Volatile memory 940 may include random accessmemory (RAM), which may act as external cache memory. RAM may comprisestatic RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), doubledata rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), and/or the like,or any combination of these.

Instructions for the operating system, applications, and/or programs maybe located in storage devices 916, which are in communication withprocessor unit 904 through system bus 902. In these illustrativeexamples, the instructions are in a functional form in persistentstorage 908. These instructions may be loaded into memory 906 forexecution by processor unit 904. Processes of one or more embodiments ofthe present disclosure may be performed by processor unit 904 usingcomputer-implemented instructions, which may be located in a memory,such as memory 906.

These instructions are referred to as program instructions, programcode, computer usable program code, or computer-readable program codeexecuted by a processor in processor unit 904. The program code in thedifferent embodiments may be embodied on different physical orcomputer-readable storage media, such as memory 906 or persistentstorage 908. Program code 918 may be located in a functional form oncomputer-readable media 920 that is selectively removable and may beloaded onto or transferred to data processing system 900 for executionby processor unit 904. Program code 918 and computer-readable media 920form computer program product 922 in these examples. In one example,computer-readable media 920 may comprise computer-readable storage media924 or computer-readable signal media 926.

Computer-readable storage media 924 may include, for example, an opticalor magnetic disk that is inserted or placed into a drive or other devicethat is part of persistent storage 908 for transfer onto a storagedevice, such as a hard drive, that is part of persistent storage 908.Computer-readable storage media 924 also may take the form of apersistent storage, such as a hard drive, a thumb drive, or a flashmemory, that is connected to data processing system 900. In someinstances, computer-readable storage media 924 may not be removable fromdata processing system 900.

In these examples, computer-readable storage media 924 is anon-transitory, physical or tangible storage device used to storeprogram code 918 rather than a medium that propagates or transmitsprogram code 918. Computer-readable storage media 924 is also referredto as a computer-readable tangible storage device or a computer-readablephysical storage device. In other words, computer-readable storage media924 is media that can be touched by a person.

Alternatively, program code 918 may be transferred to data processingsystem 900, e.g., remotely over a network, using computer-readablesignal media 926. Computer-readable signal media 926 may be, forexample, a propagated data signal containing program code 918. Forexample, computer-readable signal media 926 may be an electromagneticsignal, an optical signal, and/or any other suitable type of signal.These signals may be transmitted over communications links, such aswireless communications links, optical fiber cable, coaxial cable, awire, and/or any other suitable type of communications link. In otherwords, the communications link and/or the connection may be physical orwireless in the illustrative examples.

In some illustrative embodiments, program code 918 may be downloadedover a network to persistent storage 908 from another device or dataprocessing system through computer-readable signal media 926 for usewithin data processing system 900. For instance, program code stored ina computer-readable storage medium in a server data processing systemmay be downloaded over a network from the server to data processingsystem 900. The computer providing program code 918 may be a servercomputer, a client computer, or some other device capable of storing andtransmitting program code 918.

In some examples, program code 918 may comprise an operating system (OS)950. Operating system 950, which may be stored on persistent storage908, controls and allocates resources of data processing system 900. Oneor more applications 952 take advantage of the operating system'smanagement of resources via program modules 954, and program data 956stored on storage devices 916. OS 950 may include any suitable softwaresystem configured to manage and expose hardware resources of computer900 for sharing and use by applications 952. In some examples, OS 950provides application programming interfaces (APIs) that facilitateconnection of different type of hardware and/or provide applications 952access to hardware and OS services. In some examples, certainapplications 952 may provide further services for use by otherapplications 952, e.g., as is the case with so-called “middleware.”Aspects of present disclosure may be implemented with respect to variousoperating systems or combinations of operating systems.

The different components illustrated for data processing system 900 arenot meant to provide architectural limitations to the manner in whichdifferent embodiments may be implemented. One or more embodiments of thepresent disclosure may be implemented in a data processing system thatincludes fewer components or includes components in addition to and/orin place of those illustrated for computer 900. Other components shownin FIG. 21 can be varied from the examples depicted. Differentembodiments may be implemented using any hardware device or systemcapable of running program code. As one example, data processing system900 may include organic components integrated with inorganic componentsand/or may be comprised entirely of organic components (excluding ahuman being). For example, a storage device may be comprised of anorganic semiconductor.

In some examples, processor unit 904 may take the form of a hardwareunit having hardware circuits that are specifically manufactured orconfigured for a particular use, or to produce a particular outcome orprogress. This type of hardware may perform operations without needingprogram code 918 to be loaded into a memory from a storage device to beconfigured to perform the operations. For example, processor unit 904may be a circuit system, an application specific integrated circuit(ASIC), a programmable logic device, or some other suitable type ofhardware configured (e.g., preconfigured or reconfigured) to perform anumber of operations. With a programmable logic device, for example, thedevice is configured to perform the number of operations and may bereconfigured at a later time. Examples of programmable logic devicesinclude, a programmable logic array, a field programmable logic array, afield programmable gate array (FPGA), and other suitable hardwaredevices. With this type of implementation, executable instructions(e.g., program code 918) may be implemented as hardware, e.g., byspecifying an FPGA configuration using a hardware description language(HDL) and then using a resulting binary file to (re)configure the FPGA.

In another example, data processing system 900 may be implemented as anFPGA-based (or in some cases ASIC-based), dedicated-purpose set of statemachines (e.g., Finite State Machines (FSM)), which may allow criticaltasks to be isolated and run on custom hardware. Whereas a processorsuch as a CPU can be described as a shared-use, general purpose statemachine that executes instructions provided to it, FPGA-based statemachine(s) are constructed for a special purpose, and may executehardware-coded logic without sharing resources. Such systems are oftenutilized for safety-related and mission-critical tasks.

In still another illustrative example, processor unit 904 may beimplemented using a combination of processors found in computers andhardware units. Processor unit 904 may have a number of hardware unitsand a number of processors that are configured to run program code 918.With this depicted example, some of the processes may be implemented inthe number of hardware units, while other processes may be implementedin the number of processors.

In another example, system bus 902 may comprise one or more buses, suchas a system bus or an input/output bus. Of course, the bus system may beimplemented using any suitable type of architecture that provides for atransfer of data between different components or devices attached to thebus system. System bus 902 may include several types of bus structure(s)including memory bus or memory controller, a peripheral bus or externalbus, and/or a local bus using any variety of available bus architectures(e.g., Industrial Standard Architecture (ISA), Micro-ChannelArchitecture (MSA), Extended ISA (EISA), Intelligent Drive Electronics(IDE), VESA Local Bus (VLB), Peripheral Component Interconnect (PCI),Card Bus, Universal Serial Bus (USB), Advanced Graphics Port (AGP),Personal Computer Memory Card International Association bus (PCMCIA),Firewire (IEEE 1394), and Small Computer Systems Interface (SCSI)).

Additionally, communications unit 910 may include a number of devicesthat transmit data, receive data, or both transmit and receive data.Communications unit 910 may be, for example, a modem or a networkadapter, two network adapters, or some combination thereof. Further, amemory may be, for example, memory 906, or a cache, such as that foundin an interface and memory controller hub that may be present in systembus 902.

L. Illustrative Distributed Data Processing System

As shown in FIG. 22, this example describes a general network dataprocessing system 1000, interchangeably termed a computer network, anetwork system, a distributed data processing system, or a distributednetwork, aspects of which may be used in conjunction with illustrativeembodiments of hyperspectral sensing devices and/or systems. Forexample, hyperspectral sensing devices may transmit acquired data via anetwork and/or may receive instructions via a network. Network 1000 isan example of a network that may be used for data communication withinhyperspectral sensing system 350.

It should be appreciated that FIG. 22 is provided as an illustration ofone implementation and is not intended to imply any limitation withregard to environments in which different embodiments may beimplemented. Many modifications to the depicted environment may be made.

Network system 1000 is a network of devices (e.g., computers), each ofwhich may be an example of data processing system 900, and othercomponents. Network data processing system 1000 may include network1002, which is a medium configured to provide communications linksbetween various devices and computers connected within network dataprocessing system 1000. Network 1002 may include connections such aswired or wireless communication links, fiber optic cables, and/or anyother suitable medium for transmitting and/or communicating data betweennetwork devices, or any combination thereof.

In the depicted example, a first network device 1004 and a secondnetwork device 1006 connect to network 1002, as do one or morecomputer-readable memories or storage devices 1008. Network devices 1004and 1006 are each examples of data processing system 900, describedabove. In the depicted example, devices 1004 and 1006 are shown asserver computers, which are in communication with one or more serverdata store(s) 1022 that may be employed to store information local toserver computers 1004 and 1006, among others. However, network devicesmay include, without limitation, one or more personal computers, mobilecomputing devices such as personal digital assistants (PDAs), tablets,and smartphones, handheld gaming devices, wearable devices, tabletcomputers, routers, switches, voice gates, servers, electronic storagedevices, imaging devices, media players, and/or other networked-enabledtools that may perform a mechanical or other function. These networkdevices may be interconnected through wired, wireless, optical, andother appropriate communication links.

In addition, client electronic devices 1010 and 1012 and/or a clientsmart device 1014, may connect to network 1002. Each of these devices isan example of data processing system 900, described above regarding FIG.21. Client electronic devices 1010, 1012, and 1014 may include, forexample, one or more personal computers, network computers, and/ormobile computing devices such as personal digital assistants (PDAs),smart phones, handheld gaming devices, wearable devices, and/or tabletcomputers, and the like. In the depicted example, server 1004 providesinformation, such as boot files, operating system images, andapplications to one or more of client electronic devices 1010, 1012, and1014. Client electronic devices 1010, 1012, and 1014 may be referred toas “clients” in the context of their relationship to a server such asserver computer 1004. Client devices may be in communication with one ormore client data store(s) 1020, which may be employed to storeinformation local to the clients (e,g., cookie(s) and/or associatedcontextual information). Network data processing system 1000 may includemore or fewer servers and/or clients (or no servers or clients), as wellas other devices not shown.

In some examples, first client electric device 1010 may transfer anencoded file to server 1004. Server 1004 can store the file, decode thefile, and/or transmit the file to second client electric device 1012. Insome examples, first client electric device 1010 may transfer anuncompressed file to server 1004 and server 1004 may compress the file.In some examples, server 1004 may encode text, audio, and/or videoinformation, and transmit the information via network 1002 to one ormore clients.

Client smart device 1014 may include any suitable portable electronicdevice capable of wireless communications and execution of software,such as a smartphone or a tablet. Generally speaking, the term“smartphone” may describe any suitable portable electronic deviceconfigured to perform functions of a computer, typically having atouchscreen interface, Internet access, and an operating system capableof running downloaded applications. In addition to making phone calls(e.g., over a cellular network), smartphones may be capable of sendingand receiving emails, texts, and multimedia messages, accessing theInternet, and/or functioning as a web browser. Smart devices (e.g.,smartphones) may also include features of other known electronicdevices, such as a media player, personal digital assistant, digitalcamera, video camera, and/or global positioning system. Smart devices(e.g., smartphones) may be capable of connecting with other smartdevices, computers, or electronic devices wirelessly, such as throughnear field communications (NFC), BLUETOOTH®, WiFi, or mobile broadbandnetworks. Wireless connectively may be established among smart devices,smartphones, computers, and/or other devices to form a mobile networkwhere information can be exchanged.

Data and program code located in system 1000 may be stored in or on acomputer-readable storage medium, such as network-connected storagedevice 1008 and/or a persistent storage 908 of one of the networkcomputers, as described above, and may be downloaded to a dataprocessing system or other device for use. For example, program code maybe stored on a computer-readable storage medium on server computer 1004and downloaded to client 1010 over network 1002, for use on client 1010.In some examples, client data store 1020 and server data store 1022reside on one or more storage devices 1008 and/or 908.

Network data processing system 1000 may be implemented as one or more ofdifferent types of networks. For example, system 1000 may include anintranet, a local area network (LAN), a wide area network (WAN), or apersonal area network (PAN). In some examples, network data processingsystem 1000 includes the Internet, with network 1002 representing aworldwide collection of networks and gateways that use the transmissioncontrol protocol/Internet protocol (TCP/IP) suite of protocols tocommunicate with one another. At the heart of the Internet is a backboneof high-speed data communication lines between major nodes or hostcomputers. Thousands of commercial, governmental, educational and othercomputer systems may be utilized to route data and messages. In someexamples, network 1002 may be referred to as a “cloud.” In thoseexamples, each server 1004 may be referred to as a cloud computing node,and client electronic devices may be referred to as cloud consumers, orthe like. FIG. 22 is intended as an example, and not as an architecturallimitation for any illustrative embodiments.

M. Illustrative Combinations and Additional Examples

This section describes additional aspects and features of hyperspectralsensing systems, presented without limitation as a series of paragraphs,some or all of which may be alphanumerically designated for clarity andefficiency. Each of these paragraphs can be combined with one or moreother paragraphs, and/or with disclosure from elsewhere in thisapplication, including the materials incorporated by reference in theCross-References, in any suitable manner. Some of the paragraphs belowexpressly refer to and further limit other paragraphs, providing withoutlimitation examples of some of the suitable combinations.

A0. A hyperspectral sensing system comprising an image sensor configuredto measure an intensity of each of a plurality of spectral bands ofimpinging light; an optical collector configured to direct light toimpinge on the image sensor; and an electronics module configured tostore data corresponding to the intensity measured by the image sensor.

A1. The system of A0, wherein the optical collector includes a firstaperture and a second aperture each configured to accept light; and anoptical director configured to direct light accepted by the firstaperture and light accepted by the second aperture to impinge on theimage sensor.

A2. The system of A0, further comprising a light source, and wherein theoptical collector is mounted slidably on a rail such that an anglesubtended by the light source, the optical collector, and a sampleobject may be selectively adjusted.

B0. A hyperspectral sensing system comprising a compact spectrometer; acollector having a first aperture disposed in a first plane andconfigured to receive light, a second aperture disposed in a secondplane and configured to receive light, and an optical directorconfigured to direct the light received by the first and secondapertures to the compact spectrometer; wherein the first and secondplanes are non-planar relative to each other.

B1. The system of B0, further comprising a modulator having a pluralityof openings and a plurality of blocking portions, wherein the blockingportions are configured to block light.

C0. A method for simultaneously performing hyperspectral measurements onlight from two sources, the method comprising receiving a first portionof light via a first entrance aperture of an optical collector;receiving a second portion of light via a second entrance aperture ofthe optical collector; directing the first portion of light to impingeon a sensor configured to a measure wavelength-dependent intensity ofimpinging light; and directing the second portion of light to impinge onthe sensor.

D0. A method for performing a hyperspectral fluorescence measurement,the method comprising positioning a sample, a light source, and anoptical collector such that the sample, in response to illumination fromthe light source, emits light in a direction receivable by the opticalcollector; illuminating the sample using the light source; receivinglight emitted by the sample using the optical collector; and measuringrespective intensities of a plurality of spectral components of thereceived light using a sensor associated with the collector.

D1. The method of D0, wherein positioning the sample, the light source,and the optical collector includes disposing the sample and the opticalcollector underwater.

D2. The method of any one of D0-D1, further comprising disposing withinthe sample one or more tagging agents each configured to bind with apredetermined substance and to emit an identifiable wavelength-dependentfluorescence in response to illumination by the light source.

D3. The method of D2, wherein at least one of the one or more taggingagents comprises a lanthanide-based tag.

E0. Further aspects of an illustrative hyperspectral sensing system aredescribed below:

-   -   The collector consisting of a fixed aperture of 0.01 to 5 mm in        between the sample and the sensor.    -   The collector consisting of ground-glass (fused silica/SiO2)        diffuser with an entrance aperture (diffuser on sample side and        aperture on sensor side).    -   The collector consisting of an 8 degree numerical aperture SiO2        plano convex lens between the sample and detector located at the        primary focal plane.    -   The sensor comprising one or more dispersive elements such as        prisms, waveguides, diffractive optical elements, etc.    -   Use of ‘multi-spectral’ (i.e. discrete wavelength band) sensors        with higher number of bands (˜10-30 bands)    -   Use of light-sensitive detectors (i.e. photodiodes) and optical        color-filters or bandpass filters    -   Actuation, scanning or movement entire system (sensor+collector)        to acquire image of scene larger than single FOV (pixel). In        some examples, the collector could remain stationary relative to        sensor.    -   Use of image stabilization technology to additional improve        acuity of image obtained on a scanning or moving platform.    -   Use of local storage solutions beyond non-volatile memory, flash        memory, SD/micro-SD cards, etc.    -   Use of other data transfer technologies, as applicable,        microwave, laser, etc. communication to carry out the data        streaming/logging functionality.    -   Use of an interface for live-viewing and/or capturing the        measured output (or some analysis of the measured output) on a        separate handheld device (e.g. cell-phone, tablet, computer,        etc.). This can be done via wired (serial, parallel) or wireless        interface.    -   A hyperspectral sensing device mounted on a buoy, weather        station, weather balloon, unmanned aerial vehicle, unmanned        underwater vehicle, watercraft, aircraft, satellite, automobile,        and/or any other suitable platform.

F0. An autonomous optical sensing device comprising a first spectrometerincluding a sensing element; an optical system configured to directambient light incident from a first direction onto the sensing elementof the first spectrometer; and a first controller coupled to the firstspectrometer and configured to automatically trigger data acquisition bythe first spectrometer at selected intervals; wherein the firstspectrometer and the optical system are at least partially encased in acommon housing.

F1. The device of F0, wherein the optical system is further configuredto direct ambient light incident from a second direction onto thesensing element of the first spectrometer.

F2. The device of F1, further comprising an optical modulator at leastpartially encased in the common housing, the optical modulatorconfigured to modulate the ambient light incident from the seconddirection.

F3. The device of any one of F1-F2, further comprising an opticalpolarizer at least partially encased in the common housing, the opticalpolarizer configured to polarize the ambient light incident from thesecond direction.

F3.5 The device of F3, wherein the optical polarizer comprises acircular polarizer.

F4. The device of any one of F0-F3.5, wherein the optical systemcomprises a first lens assembly having a first value of a selectedoptical characteristic.

F5. The device of F4, wherein the first lens assembly is interchangeablewith a second lens assembly having a second value of the selectedoptical characteristic.

F6. The device of any one of F4-F5, wherein the optical characteristicis a field of view.

F7. The device of any one of F0-F6, further comprising a secondspectrometer at least partially encased in the common housing, whereinthe optical system is further configured to direct ambient lightincident from a second direction onto a sensing element of the secondspectrometer.

F8. The device of F7, further comprising a second controller configuredto automatically trigger data acquisition by the second spectrometer atselected intervals and to control transmission of data to a remoteserver by an onboard data processing system.

F9. The device of F8, wherein the second controller is configured towake the data processing system from a standby mode at predeterminedintervals.

F10. The device of any one of F0-F9, further comprising an opticalhomogenizer configured to homogenize light incident from the firstdirection.

F11. The device of any one of F0-F10, further comprising a photovoltaicpanel configured to provide electrical power to the first controller andthe first spectrometer.

F12. The device of any one of F0-F11, wherein the spectral resolution ofthe first spectrometer is 20 nanometers or better.

F13. The device of any one of F0-F12, further comprising at least onesensor usable for calibrating the first spectrometer.

F14. The device of F13, wherein the at least one sensor comprises atemperature sensor.

F15. A plurality of the devices of any one of F0-F14, wherein eachdevice is in communication with a distributed computer network.

G0. A method of assessing water quality, the method comprising receivingambient light through a first aperture of a housing of an optical devicedisposed adjacent a surface of a body of water, the first aperture beingdirected at the surface of the body of water, wherein the light receivedthrough the first aperture includes light reflected from the surface andlight passing through the surface from underneath; receiving ambientlight through a second aperture of the housing, the second aperturebeing directed at the sky, wherein the light received through the secondaperture includes light coming from the sky; directing the lightreceived through the first and second apertures into a sensing assemblydisposed within the housing; sensing, using the sensing assembly, datacorresponding to a spectrum of the light received through the first andsecond apertures; and determining, based on the sensed data, a spectrumof light originating underneath the surface of the water.

G1. The method of G0, wherein the sensing assembly comprises a firstspectrometer and a second spectrometer, and directing the light receivedfrom the first and second apertures into the sensing assembly includesdirecting the light received through the first aperture into the firstspectrometer and directing the light received through the secondaperture into the second spectrometer.

G2. The method of G0, wherein the sensing assembly comprises aspectrometer, and directing the light received through the first andsecond apertures into the sensing assembly includes directing the lightreceived through the first and second apertures into the spectrometer.

G3. The method of any one of G0-G2, further comprising updating, usingthe recorded data, remote-sensing data of the same body of waterobtained by an airborne device.

G4. The method of any one of G0-G3, wherein determining the spectrum oflight originating underneath the surface of the water includes using aMobley surface correction.

G5. The method of any one of G0-G4, wherein determining the spectrum oflight originating underneath the surface of the water includes using abidirectional reflectance distribution function.

H0. A method of assessing water quality, the method comprising receivingambient light through a first aperture of a first optical devicedisposed adjacent a surface of a body of water, the first aperture beingdirected at the surface of the body of water at a first orientation;receiving ambient light through a second aperture of a second opticaldevice disposed adjacent the surface, the second aperture being directedat the surface at a second orientation, wherein the light receivedthrough the first and second apertures includes light reflected from thesurface and light passing through the surface from underneath; directingthe light received through the first aperture into a first sensingassembly of the first device; directing the light received through thesecond aperture into a second sensing assembly of the second device;sensing, using the first and second sensing assemblies, datacorresponding to respective spectra of the light received through thefirst and second apertures; detecting a total downwelling skyirradiance; and determining, based on the sensed data and the detectedtotal downwelling sky irradiance, a spectrum of light originatingunderneath the surface of the water.

H1. The method of H0, wherein detecting the total downwelling skyirradiance includes using a cosine corrector.

H2. The method of any one of H0-H1, wherein the total downwelling skyirradiance is detected using the first optical device.

H3. The method of any one of H0-H1, wherein the total downwellingirradiance is detected using a third optical device.

H4. The method of any one of H0-H3, wherein the first and secondorientations are each defined by a respective azimuth angle and arespective zenith angle.

H5. The method of any one of H0-H3, wherein determining the spectrum oflight originating under the water includes calculating a bidirectionalreflectance distribution function (BRDF) of the surface of the water;estimating, using the BRDF, the contribution of the light reflected fromthe surface to the data sensed by each of the sensing assemblies; andcorrecting the sensed data based on the estimated contributions.

H6. The method of any one of H0-H3, wherein determining the spectrum oflight originating under the water includes estimating a relationshipbetween the data sensed by each of the sensing assemblies anddetermining the spectrum based on the estimated relationship.

H7. The method of H6, wherein the first and second orientations areselected such that radiances of light received through the first andsecond apertures are approximately equal.

Advantages, Features, and Benefits

The different embodiments and examples of a hyperspectral sensing systemdescribed herein provide several advantages over known solutions foracquiring hyperspectral data of aquatic, aerial, and/or terrestrialenvironments. For example, illustrative embodiments and examplesdescribed herein allow a compact, low-weight hyperspectral sensingsystem having dimensions suitable for deploying on an autonomousvehicle, a remotely operated vehicle, and/or an unmanned aerial vehicle.

Additionally, and among other benefits, illustrative embodiments andexamples described herein allow a hyperspectral sensing device that canbe deployed autonomously, without power cables or data cables.

Additionally, and among other benefits, illustrative embodiments andexamples described herein allow a hyperspectral sensing device that isrelatively insensitive to vibrations (e.g., due to use of a compactspectrometer).

Additionally, and among other benefits, illustrative embodiments andexamples described herein allow a hyperspectral sensing device to beconstructed using a relatively inexpensive compact spectrometer,enabling a network of hyperspectral sensing devices to be deployed atrelatively low overall cost.

Additionally, and among other benefits, illustrative embodiments andexamples described herein allow a simultaneous or near-simultaneousmeasurement of sky radiance, upwelling water radiance, and optionallyradiance of light reflected from a reference plaque. The ability to makethese measurements simultaneously or nearly simultaneously increases theaccuracy and precision of the measurements and any quantities inferredfrom the measurements, such as remote-sensing reflectance.

Additionally, and among other benefits, illustrative embodiments andexamples described herein allow hyperspectral measurements in underwaterenvironments, above-water environments, and aerial environments usingthe same hyperspectral sensing device, which may enable consistencyamong measurements performed in these different environments.Additionally, the ability to perform measurements in these differentenvironments using just one device decreases the amount of equipmentthat must be transported to measurement sites (e.g., carried onwatercraft, buoys, drones, and/or manually carried by personnel).

Additionally, and among other benefits, illustrative embodiments andexamples described herein allow hyperspectral measurements to be madeusing a device having a wider dynamic range than known hyperspectralsensors, such that a single device is configured to acquirehyperspectral data when deployed underwater and when deployed abovewater.

Additionally, and among other benefits, illustrative embodiments andexamples described herein allow a hyperspectral sensing system toautonomously trigger data collection or adjust measurement parametersbased on sensed data such as temperature, pressure, time, location,light levels, salinity, etc.

Additionally, and among other benefits, illustrative embodiments andexamples described herein allow collection optics on a hyperspectralsensing system to be adjusted and/or replaced without adjustment to anysensors (e.g., spectrometers).

Additionally, and among other benefits, illustrative embodiments andexamples described herein allow hyperspectral measurements offluorescence, scattering, and/or absorption.

No known system or device can perform these functions. However, not allembodiments and examples described herein provide the same advantages orthe same degree of advantage.

CONCLUSION

The disclosure set forth above may encompass multiple distinct exampleswith independent utility. Although each of these has been disclosed inits preferred form(s), the specific embodiments thereof as disclosed andillustrated herein are not to be considered in a limiting sense, becausenumerous variations are possible. To the extent that section headingsare used within this disclosure, such headings are for organizationalpurposes only. The subject matter of the disclosure includes all noveland nonobvious combinations and subcombinations of the various elements,features, functions, and/or properties disclosed herein. The followingclaims particularly point out certain combinations and subcombinationsregarded as novel and nonobvious. Other combinations and subcombinationsof features, functions, elements, and/or properties may be claimed inapplications claiming priority from this or a related application. Suchclaims, whether broader, narrower, equal, or different in scope to theoriginal claims, also are regarded as included within the subject matterof the present disclosure.

What is claimed is:
 1. A method for autonomously mapping a body ofwater, the method comprising: collecting first spectral data relating toambient light incident from a first viewable region using a sensingelement of a first spectrometer of a sensing device, wherein the firstspectrometer has an optical system configured to direct the ambientlight onto the sensing element, a first controller coupled to the firstspectrometer and configured to automatically trigger data acquisition bythe first spectrometer at selected intervals, and a power supplyconfigured to provide power to the first spectrometer, the opticalsystem, and the first controller, and wherein the sensing device isencased in a housing; automatically adjusting the optical system toreceive ambient light from a second viewable region; and collectingsecond spectral data relating to ambient light incident from the secondviewable region using the sensing element of the first spectrometer. 2.The method of claim 1, wherein the first viewable region is above waterand the second viewable region is under water.
 3. The method of claim 1,wherein the second viewable region is under water.
 4. The method ofclaim 1, further comprising submerging and autonomously relocating thesensing device within a body of water, such that the optical systemreceives ambient light from a third viewable region; and collectingthird spectral data relating to ambient light incident from the thirdviewable region using the sensing element of the first spectrometer. 5.The method of claim 1, further comprising: illuminating a volume ofwater using a light source of the sensing device; and collecting fourthspectral data relating to the volume of water using the sensing elementof the first spectrometer.
 6. The method of claim 5, further comprisingsubmersing the sensing device in a body of water, wherein theilluminated volume of water is in fluid communication with the body ofwater.
 7. The method of claim 1, wherein the sensing device furtherincludes an optical collector assembly configured to receive the ambientlight incident from the first viewable region into the housing, andwherein collecting the first spectral data includes automaticallyadjusting the optical collector assembly from a first configuration,wherein the optical collector assembly collects light from a firstportion of the first viewable region, and a second configuration,wherein the optical collector assembly collects light from a secondportion of the first viewable region.
 8. The method of claim 1, whereinthe first spectrometer has a spectral domain including a range of 300 nmto 900 nm.
 9. The method of claim 1, wherein the optical system of thefirst spectrometer comprises a grating.
 10. The method of claim 1,wherein the sensing device further includes a temperature sensor, themethod further comprising measuring temperature data relating to atemperature of an environment of the sensing device.
 11. The method ofclaim 10, wherein measuring the temperature data includes measuring anair temperature of air adjacent the body of water, and a watertemperature of the body of water.